[1] Iowa State Univ, Coll Design, Dept Ind Design, 715 Bissell Rd, Ames, IA 50011 USA
[2] Univ Waterloo, Fac Engn, Dept Management Sci, 200 Univ Ave West, Waterloo, ON N2L 3G1, Canada
[3] Univ Waterloo, Fac Engn, Dept Mech & Mechatron Engn, 200 Univ Ave West, Waterloo, ON N2L 3G1, Canada