[1] Drexel Univ, Sch Biomed Engn Sci & Hlth Syst, Philadelphia, PA 19104 USA
[2] Harvard Univ, Sch Dent Med, Dept Dev Biol, Boston, MA 02115 USA
[3] Univ Delaware, Dept Mech Engn, Newark, DE 19716 USA
[4] Univ Penn, Dept Orthopaed Surg, Philadelphia, PA 19104 USA
[5] MIT, Dept Mat Sci & Engn, Cambridge, MA 02139 USA
[6] MIT, Dept Biol Engn, Cambridge, MA 02139 USA
[7] MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA
[8] MIT, Dept Mech Engn, Cambridge, MA 02139 USA