1. Department of Mechanical Systems Engineering, Design Engineering Lab, Toyota Technological Institute, 2-12-1 Hisakata, Tenpaku-ku, Nagoya 468-8511, Japan
2. YAZAKI Parts Co., Ltd. W/H Development & Design Division, Design Innovate Implementation Department, Toyota 470-1294, Japan
3. Department of System Management, Fukuoka Institute of Technology, 3-30-1 Wajiro-higashi, Higashi-ku, Fukuoka 811-0295, Japan