1. The BioRobotics Institute, Scuola Superiore Sant’Anna, Piazza Martiri della Libertá 33, 56127 Pisa, Italy
2. Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Piazza Martiri della Liberta 33, 56127 Pisa, Italy
3. Tissue Engineering Research Group, Department of Anatomy & Regenerative Medicine, Royal College of Surgeons in Ireland (RCSI), Dublin D02 YN77, Ireland
4. NEST, Scuola Normale Superiore and CNR Istituto Nanoscienze, Piazza San Silvestro 12, 56127 Pisa (PI), Italy
5. Department of Physics, University of Genova, Via Dodecaneso 33, 16146 Genova, Italy