[1] Univ Zurich, Inst Biomed Engn, Gloriastr 35, CH-8092 Zurich, Switzerland
[2] ETH, Gloriastr 35, CH-8092 Zurich, Switzerland
[3] Max Planck Inst Biol Cybernet, Tubingen, Germany
[4] Univ Bologna, Dept Biomed & Neuromotor Sci, Bologna, Italy
[5] Ernst Moritz Arndt Univ Greifswald, Inst Phys, Greifswald, Germany