1. The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
2. The BioRobotics Institute, Pontedera, Pisa, Italy
3. The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Pisa, Italy
4. Institute of Recovery and Care of Scientific Character (IRCCS), Fondazione Don Carlo Gnocchi, Firenze, Italy
5. Centro Protesi Inail, Vigorso di Budrio, Bologna, Italy