[1] Scuola Super StAnna, BioRobot Inst, I-56127 Pisa, Italy
[2] Scuola Super StAnna, Dept Excellence Robot & AI, I-56127 Pisa, Italy
[3] IRCCS Fdn Carlo Gnocchi, I-50143 Florence, Italy
[4] Univ Pisa, Sch Biomed Engn, I-56127 Pisa, Italy
[5] Politecn Bari, Dept Elect Engn & Informat Technol, I-70125 Bari, Italy
[6] Turingsense EU Lab Srl, I-47121 Forli, Italy