1. Department of Mechanical and Biofunctional Systems, Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan
2. Department of Machine Intelligence and Systems Engineering, Faculty of System Science and Technology, Akita Prefectural University, 84-4 Tsuchiya Ebinokuchi, Yurihonjo, Akita 015-0055, Japan