1. Laboratory for Medical Technology, Rizzoli Orthopaedic Institute, Via di Barbiano 1/10, 40136 Bologna, Italy
2. School of Mechanical Engineering, University of Leeds, Woodhouse Lane, LS2 9JT Leeds, UK
3. Department of Industrial Engineering, School of Engineering and Architecture, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy
4. Department of Mechanical Engineering, University of Sheffield, Sheffield, UK