[1] Politecn Milan, Dept Meccan, Via Privata Giuseppe Masa 1, I-20156 Milan, Italy
[2] Univ Sorbonne Paris Nord, Inst Biomecan Humaine Georges Charpak, IBHGC, UR 4494, F-93000 Bobigny, France
[3] Arts & Metiers Inst Technol, F-75013 Paris, France
[4] Univ Sorbonne Paris Nord, Dept STAPS, Bobigny, France
[5] Politecn Milan, Dept Elettron Informaz Bioengn, Milan, Italy
[6] INAIL, Via Fontana Candida, I-00040 Monte Porzio Catone, Italy
[7] Laurentian Univ, Bharty Sch Engn, Sudbury, ON P3E 2C6, Canada