[1] Univ Victoria, Dept Mech Engn, LiME, Victoria, BC V8P 5C2, Canada
[2] Univ Victoria, Ctr Biomed Res, Victoria, BC V8P 5C2, Canada
[3] Univ Victoria, Ctr Adv Mat & Related Technol, Victoria, BC V8P 5C2, Canada
[4] Univ Genoa, Dept Informat Bioengn Robot & Syst Engn, I-16145 Genoa, Italy