The research leading to these results has received funding from the European Union Horizon 2020 research and innovation programme under grant agreement N. 769872 (EMPATHIC) and N. 823907 (MENHIR) and from the project SIROBOTICS that received funding from Ministero dell’Istruzione, dell’Università, e della Ricerca (MIUR), PNR 2015–2020, Decreto Direttoriale 1735 del 13 luglio 2017.