1. Department of Engineering Science and Mechanics, Faculty of Engineering, Shibaura Institute of Technology, Tokyo, Japan
2. Division of Mechanical Engineering, Shibaura Institute of Technology, Tokyo, Japan
3. Division of Mechatronics, Department of Innovative Engineering, Faculty of Science and Technology, Oita University, Oita, Japan
4. Tohnichi MFG. Co., Ltd., Tokyo, Japan
5. Department of Mechanical Engineering, Faculty of Engineering, Okayama University, Okayama, Japan