1. Department of Robotics and Mechatronics, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Krakow, Poland
2. Department of Mechanical Engineering, Sheffield University, Sheffield S1 3JD, UK
3. Department of Medical Physics, Sheffield Teaching Hospital NHS Foundation Trust, Royal Hallamshire Hospital, Glossop Road, Sheffield S10 2JP, UK