[1] Osaka Univ, Dept Syst & Human Sci, Grad Sch Engn Sci, Toyonaka, Osaka 5608531, Japan
[2] Kyoto Univ, Coll Med Technol, Sakyo Ku, Kyoto 6068507, Japan
[3] Osaka Univ Hosp, Dept Phys Therapy, Suita, Osaka 5650871, Japan
[4] Mitsubishi Elect Engn, Ind Syst Engn Dept, Kasugai, Aichi 4860906, Japan
[5] Osaka Univ, Grad Sch Med, Suita, Osaka 5650871, Japan