1Department of Biomedical Engineering, Institute of Basic Medical Sciences, University of Tsukuba, Tsukuba, Ibaraki 305, Japan
2Department of Mechanical Engineering, University of Houston, Houston, Texas 77004
3Department of Biomedical Engineering, Institute of Basic Medical Sciences, University of Tsukuba, Tsukuba, Ibaraki 305, Japan
4Biomechanics Laboratory and School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332-0405