1. Biomanufacturing Laboratory, Center for Computer-Aided Design, The University of Iowa, Iowa City, IA 52242
2. Biomedical Engineering Department, The University of Iowa, Iowa City, IA 52242
3. Mechanical and Industrial Engineering Department, The University of Iowa, Iowa City, IA 52242
4. Mechanical and Industrial Engineering Department, The University of Iowa, Iowa City, IA 52242 e-mail: