[1] MIT, Dept Biol Engn, Cambridge, MA 02139 USA
[2] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
[3] Univ Calif Davis, Sch Med, Div Biostat, Davis, CA 95616 USA
[4] Univ Calif Davis, Dept Appl Sci, Coll Engn, Davis, CA 95616 USA
[5] MIT, Dept Elect Engn, Cambridge, MA 02139 USA