[1] Harvard MIT Program Hlth Sci & Technol, Cambridge, MA 02139 USA
[2] MIT, Inst Med Engn & Sci, Cambridge, MA 02139 USA
[3] Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA
[4] Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA
[5] MIT, Dept Mech Engn, Cambridge, MA 02139 USA