1. Laboratory of Biomechanics , Department of Biosystems Science, , Kyoto 606-8507 , Japan
2. Institute for Life and Medical Sciences, Kyoto University , Department of Biosystems Science, , Kyoto 606-8507 , Japan
3. Department of Orthopaedic Surgery , Faculty of Medicine, , Tokyo 113-0033 , Japan
4. The University of Tokyo , Faculty of Medicine, , Tokyo 113-0033 , Japan
5. Department of Engineering Science and Mechanics, Shibaura Institute of Technology , Tokyo 135-8548 , Japan