1. Division of Human Mechanical Systems and Design, Graduate School of Engineering, Hokkaido University, Sapporo 060-8628, Japan
2. Division of Mechanical and Aerospace Engineering, Faculty of Engineering, Hokkaido University, Sapporo 060-8628, Japan
3. Department of Materials Engineering, Ming Chi University of Technology, Taipei 24301, Taiwan
4. Department of Biomedical Engineering, National Yang Ming Chiao Tung University, Taipei 11221, Taiwan
5. Department of Mechanical Engineering, National Central University, Taoyuan 32001, Taiwan
6. Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan