1. Department of Engineering “Enzo Ferrari”, Universit`a degli Studi di Modena e Reggio Emilia, Modena, Italy
2. BioRobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy
3. Polytechnique Department of Engineering and Architecture, Universit`a degli Studi di Udine, Udine, Italy