1. Center for Limb Loss and Mobility, Department of Veterans Affairs, 1660 S. Columbian Way, MS-151, Seattle, WA 98108 e-mail:
2. Center for Limb Loss and Mobility, Department of Veterans Affairs, 1660 S. Columbian Way, MS-151, Seattle, WA 98108;
3. Department of Mechanical Engineering, University of Washington, Seattle, WA 98195 e-mail:
4. Mem. ASME Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712 e-mail: