[1] Kagawa Univ, Grad Sch Engn, Div Intelligent Mech Syst Engn, 2217-20 Hayashi Cho, Takamatsu, Kagawa 7610396, Japan
[2] Univ Electrocommun, Dept Human Commun, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan
[3] Kagawa Univ, Dept Engn & Design, 2217-20 Hayashi Cho, Takamatsu, Kagawa 7610396, Japan
[4] Osaka Univ, Grad Sch Engn Sci, Dept Mech Sci & Bioengn, Div Bioengn, 1-3 Machikaneyama, Toyonaka, Osaka 5608531, Japan