**Author details**

Andrea Tonoli1,3, Angelo Bonfitto3, Marcello Chiaberge2,3, Mario Silvagni1,3, Lester D. Suarez3 and Enrico Zenerino1,3 *1Department of Mechanical and Aerospace Engineering/ Politecnico di Torino, Italy 2Department of Electronics and Telecommunications/ Politecnico di Torino, Italy 3Mechatronics Lab/Politecnico di Torino, Italy* 
