[1] Adv Telecommun Res Inst Int ATR, Brain Informat Commun Res Lab Grp, Kyoto 6190288, Japan
[2] RIKEN, Man Machine Collaborat Res Team, Guardian Robot Project, Kyoto, Japan
[3] Kyoto Univ, Grad Sch Informat, Kyoto, Japan
[4] Univ Tokyo, Grad Sch Humanities & Sociol, Dept Psychol, Hongo 7 3 1,Bunkyo Ku, Tokyo 1130033, Japan
[5] Univ Tokyo, Sch Engn, Ctr Engn, Res Artifacts, Hongo 7 3 1,Bunkyo Ku, Tokyo 1138656, Japan