1. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 e-mail:
2. Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843 e-mail:
3. Virtual Manufacturing Section, Ford Motor Company, Livonia, MI 48150 e-mail:
4. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109;
5. Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109 e-mail: