1. Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, 16145 Genova, Italy
2. iXem Labs, Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Turin, Italy
3. Department Mechanical, Energy, Management and Transportation Engineering, University of Genoa, 16145 Genova, Italy