1. Institute of Movement Sciences, University of the Mediterranean, UMR CNRS 6233, 163, Avenue de Luminy, 13288 Marseille Cedex 09, France; Department of Mechanical Engineering, University of Delaware, 126 Spencer Laboratories, Newark, DE 19716
2. Institute of Movement Sciences, University of the Mediterranean, UMR CNRS 6233, 163, Avenue de Luminy, 13288 Marseille Cedex 09, France
3. Universite de Toulouse, UPS, LAPMA, 118, Route de Narbonne, F-31062 Toulouse Cedex 09, France
4. Fellow ASME
5. Department of Mechanical Engineering, University of Delaware, 126 Spencer Laboratories, Newark, DE 19716