a
Dept. Bioengineering and Robotics, Graduate School of Engineering, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Japan
E-mail: ishikawa@pfsl.mech.tohoku.ac.jp
;
Fax: +81-22-795-6959
;
Tel: +81-22-795-4009
b
Dept. Biomedical Engineering, Graduate School of Biomedical Engineering, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Japan
c
International Advanced Research and Education Organization, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Japan
d
Dept. Biomedical Engineering, Graduate School of Engineering, Okayama University of Science, Ridai-cho, Japan