1. Design Factory, Department of Mechanical Engineering, Aalto University, Betonimiehenkuja 5, Espoo 02210, Finland e-mail:
2. Fellow ASME Design Factory, Department of Mechanical Engineering, Aalto University, Betonimiehenkuja 5, Espoo 02210, Finland e-mail:
3. Department of Mechanical and Aerospace Engineering, Monash University, Wellington Road, Clayton VIC 3800, Australia e-mail:
4. Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Raod, Singapore 487372 e-mail:
5. Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372 e-mail:
6. Department of Mechanical Engineering, University of Texas at Austin, 204 E. Dean Keeton Street, Austin, TX 78712 e-mail:
7. Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139 e-mail: