1. School of Chemical Engineering, University of Birmingham, Birmingham B15 2TT, UK
2. Unilever R&D Port Sunlight, Bebington, Wirral CH63 3JW, UK
3. Institute of Neuroscience, Université catholique de Louvain, 1200 Brussels, Belgium
4. ICTEAM Institute, Université catholique de Louvain, 1348 Brussels, Belgium
5. Immersion Canada Inc., Montréal, Québec, H2W 2R2, Canada
6. UPMC Univ Paris 06, Institut des Systèmes Intelligents et de Robotique, 75005 Paris, France