[1] Scuola Super Sant Anna, Ctr Res Microengn, CRIM Lab, I-56025 Pontedera, PI, Italy
[2] Waseda Univ, Japan Joint Lab RoboCasa, Shinjuku Ku, Tokyo 1698555, Japan
[3] Waseda Univ, Sch Adv Sci & Engn, Dept Life Sci & Med Biosci, Shinjuku Ku, Tokyo 1698555, Japan
[4] Italian Inst Technol, Genoa, Italy