1. School of Engineering and Architecture, University of Bologna, Via Terracini 28, Bologna 40131, Italy e-mail:
2. School of Engineering, University of Portsmouth, Anglesea Building, Anglesea Road, Portsmouth PO1 3DJ, UK e-mail:
3. School of Engineering and Architecture, University of Bologna, Viale Risorgimento 2, Bologna 40136, Italy e-mail:
4. Department of Mechanical Engineering and INSIGNEO Institute for In Silico Medicine, University of Sheffield, Sir Frederick Mappin Building, Pam Liversidge Building, Sheffield S1 3JD, UK e-mail: