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EP 3 334 572 A1

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(43) Date of publication: 20.06.2018 Bulletin 2018/25 (21) Application number: 16835544.4 (22) Date of filing: 11.08.2016

(51) International Patent Classification (IPC):  B25J 9/00(2006.01) A61F 5/01(2006.01) A61H 3/00(2006.01) A61H 1/02(2006.01) (86) International application number: PCT/SG2016/050383 (87) International publication number: WO 2017/026943 (16.02.2017 Gazette 2017/07)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: MA MD (30) Priority: 11.08.2015 SG 10201506263R (71) Applicants: Nanyang Technological University Singapore 639798 (SG) Universita' degli Studi di Genova 16126 Genova (IT) Fondazione Istituto Italiano di Tecnologia 16163 Genova (IT)

(72) Inventors: CAPPELLO, Leonardo Singapore 639798 (SG) MASIA, Lorenzo Singapore 639798 (SG) (74) Representative: Talbot-Ponsonby, Daniel Frederick  Marks & Clerk LLP Fletcher House Heatley Road The Oxford Science Park Oxford OX4 4GE Oxford OX4 4GE (GB)