1. Department of Mechanical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706 e-mail:
2. Department of Mechanical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706;
3. Department of Biomedical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706 e-mail:
4. Fellow ASME Department of Mechanical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706;
5. Department of Biomedical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706;
6. Department of Orthopedics and Rehabilitation, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706 e-mail: