Submitted on: 19 April 2013.
Revised on: 30 May 2013.
Accepted on: 20 June 2013.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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Submitted on: 14 September 2015.
Revised on: 15 December 2015.
Accepted on: 03 February 2016.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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Submitted on: 03 November 2010.
Revised on: 14 February 2011.
Accepted on: 10 April 2011.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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