1. The Biorobotics Institute, Scuola Superiore Sant’Anna , viale Rinaldo Piaggio 34, 56025 Pontedera , Italy
2. Department of Excellence in Robotics and Artificial Intelligence, Scuola Superiore Sant’Anna , Piazza Martiri della Libertà, 56127 Pisa , Italy
3. Neuroscience Institute, National Research Council (CNR) , via G. Moruzzi 1, 56124 Pisa , Italy
4. Bertarelli Foundation Chair in Translational Neuroengineering, Centre for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Campus Biotech , Chemin des Mines 9, 1202 Geneva , Switzerland
5. Department of Biomedical Sciences, University of Padua , via G. Colombo 3, 35121 Padua , Italy