1. The BioRobotics Institute, Sant’Anna School of Advanced Studies, 56127 Pisa, Italy
2. Department of Excellence in Robotics & AI, Sant’Anna School of Advanced Studies, 56127 Pisa, Italy
3. Interdisciplinary Research Center Health Science, Sant’Anna School of Advanced Studies, 56127 Pisa, Italy
4. Centro Protesi INAIL (Italian National Institute for Insurance against Accidents at Work), 40054 Budrio, Italy
5. IRCCS Fondazione Don Carlo Gnocchi, 50143 Florence, Italy