1. Department of Biomedical Engineering, Washington University, St. Louis, MO 63130
2. Department of Mechanical Engineering and Materials Science, Washington University, St. Louis, MO 63130
3. Department of Biomedical Engineering, Saint Louis University, St. Louis, MO 63103
4. Department of Mechanical Engineering and Materials Science, Washington University, One Brookings Drive, CB 1185, St. Louis, MO 63130 e-mail: