1. DET—Department of Electronics and Telecommunications, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy
2. Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy
3. Altair Robotics Laboratory, Department of Engineering for Innovation Medicine, Section of Engineering and Physics, University of Verona, Ca’ Vignal 2—Strada Le Grazie 15, 37134 Verona, Italy