[1] Clemson Univ, Dept Mech Engn, Clemson, SC 29634 USA
[2] Carleton Univ, Dept Syst & Comp Engn, Ottawa, ON K1S 5B6, Canada
[3] Univ Wollongong, Sch Mech Mat & Mechatron Engn, Wollongong, NSW 2522, Australia
[4] Ecole Natl Super Ingn Bourges, Interact Robot Syst Team, Inst Pluridisciplinaire Rech Ingenierie Syst, Inst PRISME, F-18000 Bourges, France