[1] Hyogo Inst Assist Technol, Robot Rehabil Ctr, Kobe, Hyogo, Japan
[2] Natl Inst Adv Ind Sci & Technol, Artificial Intelligence Res Ctr, Tokyo, Japan
[3] Tokyo Univ Sci, Fac Adv Engn, Dept Med & Robot Engn Design, Tokyo, Japan
[4] Hyogo Inst Assist Technol, Robot Rehabil Ctr, 1070 Akebono Cho,Nishi Ku, Kobe, Hyogo 6512134, Japan