1. The BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
2. Neuro-Urology Department, Careggi University Hospital, 50134 Firenze, Italy
3. Department of Veterinary Sciences, University of Pisa, 56124 Pisa, Italy
4. BioMedLab, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
5. Bertarelli Foundation Chair in Translational NeuroEngineering, Center for Neuroprosthetics and Institute of Bioengineering, École Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland