[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
[2] Univ Calif Berkeley, Berkeley Sensor & Actuator Ctr, Berkeley, CA 94720 USA
[3] Natl Yunlin Univ Sci & Technol, Dept Mech Engn, Yunlin 64002, Taiwan
[4] Tatung Univ, Dept Mech Engn, Taipei 10452, Taiwan