(19)

(11)

EP 4 143 654 A1

(12)

(43) Date of publication: 08.03.2023 Bulletin 2023/10 (21) Application number: 21726187.4 (22) Date of filing: 19.04.2021

(51) International Patent Classification (IPC):  G05D 1/02(2006.01) B62D 15/00(2006.01) A61H 3/04(2006.01) (52) Cooperative Patent Classification (CPC): G05D 1/0212; G05D 2201/0206; A61H 3/04; A61H 2003/043; A61H 2003/046; A61H 2201/5007; A61H 2201/501; A61H 2201/5064; A61H 2201/5092; A61H 2201/5079; A61H 2201/5038; A61H 2201/5097 (86) International application number: PCT/IB2021/053213 (87) International publication number: WO 2021/220103 (04.11.2021 Gazette 2021/44)

(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: KH MA MD TN (30) Priority: 27.04.2020 IT 202000009040 (71) Applicant: Università Degli Studi Di Trento 38122 Trento (IT)	(72) Inventors: PALOPOLI, Luigi 38122 Trento (IT) FONTANELLI, Daniele 38122 Trento (IT) ZENATTI, Fabiano 38068 Rovereto (TN) (IT) DIVAN, Stefano 38057 Pergine Valsugana (TN) (IT) ANDREETTO, Marco 37136 Verona (IT) (74) Representative: Braidotti, Andrea  Praxi Intellectual Property S.p.a Corso Porta Nuova, 60 37122 Verona 37122 Verona (IT)