1. Institute of Industrial Science and Technology,Kawasaki,Japan,210-0821
2. Yokohama National University,Faculty of Engineering,Yokohama,Japan,240-8501
3. Kanagawa Institute of Industrial Science and Technology,Kawasaki,Japan,210-0821
4. International University of Health and Welfare,School of Medicine,Department of Orthopedic Surgery,Narita,Japan,286-8520
5. Keio University,Haptics Research Center,Kawasaki,Japan,233-8522
6. Keio University,School of Medicine,Department of Orthopedic Surgery,Tokyo,Japan,160-8582
7. Yokohama National University,Graduate School of Engineering Science,Yokohama,Japan,240-8501