1. Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan
2. Mechanical Engineering Department, Tecnun-University of Navarra, Navarra 20018, Spain
3. Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15219
4. Department of Biomedical Engineering, The University of Texas at San Antonio, San Antonio, TX 78249
5. Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15219 e-mail: