[1] Toyohashi Univ Technol, Dept Prod Syst Engn, Toyohashi, Aichi 4418580, Japan
[2] Tokyo Med & Dent Univ, Inst Biomat & Bioengn, Chiyoda Ku, Tokyo 1010062, Japan
[3] Natl Inst Adv Ind Sci & Technol, Inst Human Sci & Biomed Engn, Tsukuba, Ibaraki 3058564, Japan
[4] Kansai Univ, Suita, Osaka 5648680, Japan
[5] Iwate Univ, Dept Welf Engn, Morioka, Iwate 0200801, Japan
[6] Tohoku Univ, Biomed Engn Res Org, Aoba Ku, Sendai, Miyagi 9808579, Japan
[7] Aichi Gakuin Univ, Sch Dent, Dept Dent Mat Sci, Nagoya, Aichi 4648650, Japan