1. Bioengineering and Robotics Research Centre “E. Piaggio” and Dipartimento di Ingegneria dell’Informazione, University of Pisa, Largo Lucio Lazzarino 1, 56122 Pisa, Italy
2. BSICoS Group, Aragón Institute of Engineering Research (I3A), IISAragon, University of Zaragoza, 50015 Zaragoza, Spain
3. Biomedical Research Networking Center in Bioengineering, Biomaterials and Nanomedicine (CIBER-BBN), 28029 Madrid, Spain