1. Department of Mechanical Engineering, University of Ottawa, 161 Louis Pasteur, Ottawa, ON K1N 6N5, Canada
2. Department of Prosthetics and Orthotics, Ottawa Hospital Rehabilitation Centre, 505 Smyth Road, Ottawa, ON K1H 8M2, Canada
3. Research and Development,Centre for Rehabilitation, The Ottawa Hospital Research Institute, 505 Smyth Road, Ottawa, ON K1H 8M2, Canada; Faculty of Medicine, University of Ottawa, 451 Smyth Road, Ottawa, ON K1H 8M5, Canada