[1] Swiss Fed Inst Technol, Mobile Hlth Syst Lab MHSL, Inst Robot & Intelligent Syst IRIS, Dept Hlth Sci & Technol, Zurich, Switzerland
[2] Tech Univ Berlin, Control Syst Grp, Berlin, Germany
[3] Furtwangen Univ, Inst Tech Med ITeM, Villingen Schwenningen, Germany
[4] Univ Appl Sci Technol Business & Design, Hsch Wismar, RG Automat & Mechatron ATM, Computat Engn & Automat CEA Grp, Wismar, Germany