1. Kyoto Institute of Technology, Goshokaido-Cho, Matsugasaki, Sakyo-ku, Kyoto 606-8585, Japan e-mail:
2. Graduate School of KIT, Goshokaido-Cho, Matsugasaki, Sakyo-ku, Kyoto 606-8585, Japan e-mail:
3. Kashifuji Works Ltd., 28 Kamota, Kamitoba, Minami-ku, Kyoto 601-8131, Japan e-mail:
4. Aisin Seiki Co., Ltd., 2-1 Asahi-machi, Kariya, Aichi 448-8650, Japan e-mail:
5. Nachi-Fujikoshi Corp., 1-1-1 Fujikoshi-Honmachi, Toyama 930-8511, Japan e-mail: