1. Mechanical and Manufacturing Department, Faculty of Engineering, Mondragon Unibertsitatea, Loramendi 4, 20500 Arrasate-Mondragón, Spain
2. Electronics and Computing Department, Faculty of Engineering, Mondragon Unibertsitatea, Loramendi 4, 20500 Arrasate-Mondragón, Spain
3. Mechanical Engineering, Orona Elevator Innovation Center, Orona Ideo, Jauregi Bidea s/n, 20120 Hernani, Spain