Journal of Bionics Engineering
The authors would like to thank Joel Ramjist for proof-reading this manuscript, as well as Ronnie Wong, Martin Gross, Daniel Renjewski, Sten Grimmer, Andre Seyfarth, Peter Aerts, Roll Pfeifer, Kasper Stoy, Auke Ijspeert and our other partners in the EU FP7 Locomorph project for engineering, scientific and technical support. We would also like to thank Jason Naughton, Kathryn Atwell, and Alykhan Neky. This work was supported financially by the Natural Sciences and Engineering Research Council （NSERC） of Canada and by Ryerson University＇s Office of the Vice President of Research and Innovation, and the Department of Electrical and Computer Engineering.
Corresponding author： James Andrew Smith E-mail： firstname.lastname@example.org