[1] Stanford Univ, Dept Orthoped Surg, Stanford, CA 94305 USA
[2] Univ Tsukuba, Grad Sch Pure & Appl Sci, Tsukuba, Ibaraki 3058573, Japan
[3] Harvard Univ, Sch Med, Brigham & Womens Hosp, Biomat Innovat Res Ctr,Dept Med,Div Biomed Engn, Cambridge, MA 02139 USA
[4] MIT, Harvard MIT Div Hlth Sci & Technol, Cambridge, MA 02139 USA
[5] Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02139 USA
[6] Yokohama Natl Univ, Grad Sch Engn, Hodogaya Ku, Yokohama, Kanagawa 2408501, Japan
[7] Stanford Univ, Dept Mat Sci & Engn, Stanford, CA 94305 USA