1. Université de technologie de Compiègne, CNRS, Biomechanics and Bioengineering, Centre de recherche Royallieu CS 60319 60203 Compiègne Cedex France rachid.jellali@utc.fr eric.leclerc@utc.fr
2. CNRS IRL 2820, Laboratory for Integrated Micro Mechatronic Systems, Institute of Industrial Science, University of Tokyo 4-6-1 Komaba Meguro-ku Tokyo 153-8505 Japan
3. Department of Chemical Engineering, Faculty of Engineering, University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo Japan