1. Department of Biomedical Engineering, University of Minnesota, 7-105 Nils Hasselmo Hall, 312 Church Street SE, Minneapolis, MN 55455 e-mail:
2. Department of Biomedical Engineering, University of Minnesota, Minneapolis, MN 55455 e-mail:
3. Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455 e-mail:
4. Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN 55455 e-mail: