1. Precision Engineering, University of Twente, Enschede 7522 NB, The Netherlands e-mail:
2. Precision Engineering, University of Twente, Enschede 7522 NB, The Netherlands;
3. Olton Engineering Consultancy, Enschede 7522 NB, The Netherlands e-mail:
4. Precision Systems Design Lab, Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 e-mail: