1. Department of Mechanical Engineering, Stanford University, Durand Building 204, Stanford, CA 94305-4038
2. School of Mechanical Engineering, Chung-Ang University, Seoul, 156-756 South Korea
3. Bone and Joint Center, Palo Alto VA, Palo Alto, CA 94304; Department of Orthopedic Surgery, Stanford University Medical Center, Stanford, CA 94305
4. Department of Mechanical Engineering, Stanford University, Stanford, CA 94305; Bone and Joint Center, Palo Alto VA, Palo Alto, CA 94304; Department of Orthopedic Surgery, Stanford University Medical Center, Stanford, CA 94305