[1] Loughborough Univ Technol, Wolfson Sch Mech & Mfg Engn, Loughborough LE11 3TU, Leics, England
[2] Vrije Univ Amsterdam, Dept Plast Reconstruct & Hand Surg, Med Ctr, Amsterdam Movement Sci, Amsterdam, Netherlands
[3] Univ Nottingham, Sch Pharm, Fac Sci, Univ Pk, Nottingham NG7 2RD, England
[4] 3Dynam Syst, Heol Ty Gwyn Ind Estate, Bridgend CF34 0BQ, Wales
[5] Univ Nottingham, Fac Engn, Adv Mfg Technol Res Grp, Univ Pk, Nottingham NG7 2RD, England