1. Medical Engineering Laboratory, Department of Mechanical Engineering, Faculty of Engineering, Osaka Sangyo
University, Daito, Osaka 574-8530, Japan
2. Department of Orthopaedic Surgery, Shimada Hospital, 100-1 Kashiyama,
Habikino, Osaka, Japan
3. Intelligent Control System (Laboratory), Department of Mechanical Engineering, Faculty
of Engineering, Osaka Sangyo University, Daito, Osaka 574-8530, Japan