* Corresponding authors

^a Department of Mechanical Engineering, University of Maryland, College Park, 2147 Glenn L. Martin Hall, College Park, MD, USA
E-mail: rsochol@umd.edu

^b Maryland Robotics Center, University of Maryland, College Park, MD, USA

^c Institute for Systems Research, University of Maryland, College Park, MD, USA

^d Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA

^e Robert E. Fischell Institute for Biomedical Devices, University of Maryland, College Park, MD, USA

^f Department of Mechanical and Industrial Engineering, University of Massachusetts Amherst, MA, USA