1. Division of Mechanical Science and Technology, Gunma University, Kiryu 376-8515, Japan
2. Center for Advanced Medical Engineering Research & Development (CAMED), Kobe University, Kobe 650-0047, Japan
3. Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 2217-14 Hayashi-cho, Takamatsu 761-0395, Japan