1. Graduate School of Science and Technology Shinshu University 386-8567 Ueda Japan
2. Interdisciplinary Graduate School of Science and Technology Shinshu University 386-8567 Ueda Japan
3. Department of Mechanical Engineering and Robotics Shinshu University 386-8567 Ueda Japan
4. Key Laboratory of Advanced Textile Materials and Manufacturing Technology Ministry of Education Zhejiang Sci-Tech University 310018 Hangzhou China
5. Zhejiang Advanced Textile Technology Center Shaoxing China