[1] Univ Minho, SHS, Life & Hlth Sci Res Inst, P-4719 Braga, Portugal
[2] ICVS 3Bs, PT Govt Assoc Lab, Braga, Portugal
[3] Univ Minho, Ind Elect Dept, Guimaraes, Portugal
[4] Univ Minho, Dept Mech, P-4800058 Guimaraes, Portugal
[5] Polytech Inst Cavado, DIGARC, Barcelos, Portugal
[6] Univ Minho, HASLab, INESC TEC, Braga, Portugal