1 Department of Artificial Intelligence in Biomedical Engineering, Faculty of Engineering, Friedrich-Alexander Universität Erlangen-Nürnberg, Erlangen, Germany.
2 Institute of Robotics and Mechatronics, DLR German Aerospace Center, Weßling, Germany.
3 Chair of Autonomous Systems and Mechatronics, Department of Electrical Engineering and Department of Artificial Intelligence in Biomedical Engineering, Faculty of Engineering, Friedrich-Alexander Universität Erlangen-Nürnberg, Erlangen, Germany.
4 Institute for Mechatronic Systems, Mechanical Engineering, Technical University of Darmstadt, Darmstadt, Germany.