1 The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy. donato.romano@santannapisa.it.
2 Department of Excellence in Robotics and AI, Sant'Anna School of Advanced Studies, 56127, Pisa, Italy. donato.romano@santannapisa.it.
3 The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.
4 Department of Excellence in Robotics and AI, Sant'Anna School of Advanced Studies, 56127, Pisa, Italy.
5 Healthcare Engineering Innovation Center (HEIC), Khalifa University, Abu Dhabi, UAE.