[1] Univ Penn, Perelman Sch Med, Dept Bioengn, Philadelphia, PA 19104 USA
[2] Univ Penn, Perelman Sch Med, Dept Orthopaed Surg, Philadelphia, PA 19104 USA
[3] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Div Biomed Engn, Sheitin, Hong Kong, Peoples R China