1. Division of Human Mechanical Systems and Design, Hokkaido University, N13, W8, Kita-ku, Sapporo 060-0813, Japan
2. CATEC Inc., Ono-Building 3F, 4-24-7, Taito, Taito-ku, Tokyo 110-0016, Japan
3. Integrated Control System Development Division, Mazda Motor Corporation, 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima 730-8670, Japan