1. Department of Computer Science and Information Engineering, College of Engineering, Chang Gung University, No. 259, Wen-Hwa 1st Road, Kwei-Shan, Taoyuan 333, Taiwan
2. Department of Physical Medicine and Rehabilitation, Chang Gung Memorial Hospital, 5 Fu-Hsing Street, Kwei-Shan, Taoyuan 333, Taiwan
3. Department of Computer Science, University of Illinois Urbana-Champaign, 201 North Goodwin Avenue, Urbana, IL 61801, USA