1. Faculty of Textile Science and Technology; Shinshu University; Ueda 386-8576 Japan
2. Department of Functional Machinery and Mechanics; Shinshu University; 3-15-1 Tokida, Ueda 386-8576 Japan
3. Key Laboratory of Advanced Textile Materials and Manufacturing Technology Ministry of Education; Zhejiang Sci-Tech University; Hangzhou Zhejiang 310018 China