[1] Nanyang Technol Univ, Sch Chem & Biomed Engn, Div Bioengn, Singapore 637457, Singapore
[2] Univ Waterloo, Dept Chem Engn, Waterloo, ON N2L 3G1, Canada
[3] Univ Aberdeen, Dept Orthopaed Surg, Aberdeen AB25 2ZD, Scotland
[4] Univ Birmingham, Sch Mech Engn, Birmingham B15 2TT, W Midlands, England