**Author details**

Enrico Zenerino, Joaquim Girardello Detoni and Andrea Tonoli *Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Italy Mechatronics Lab, Politecnico di Torino, Italy* 

Marcello Chiaberge *Department of Electronics and Telecommunications, Politecnico di Torino, Italy Mechatronics Lab, Politecnico di Torino, Italy* 

Diego Boero *Mechatronics Lab, Politecnico di Torino, Italy* 
