[1] MIT, Biol Engn Div, Cambridge, MA 02139 USA
[2] MIT, Ctr Biomed Engn, Cambridge, MA 02139 USA
[3] MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA
[4] Univ Western Australia, Queen Elizabeth II Med Ctr, Dept Orthopaed Surg, Nedlands, WA 6009, Australia