[1] Yonsei Univ, Sch Math & Comp Computat Sci & Engn, Seoul 03722, South Korea
[2] Laval Univ, Dept Min Met & Mat Engn, Quebec City, PQ G1V0A6, Canada
[3] Korea Inst Sci & Technol, Biomed Res Inst, Ctr Biomat, Seoul 02792, South Korea
[4] Korea Univ, Coll Hlth Sci, Dept Bioconvergence Engn, Seoul 02841, South Korea
[5] Korea Inst Sci & Technol, Ctr Healthcare Robot, Seoul 02792, South Korea
[6] Yonsei Univ, Yonsei KIST Convergence Res Inst, Seoul 03722, South Korea