[1] Harvard Univ, Harvard John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA
[2] Harvard Univ, Wyss Inst Biolog Inspired Engn, Boston, MA 02215 USA
[3] Swiss Fed Inst Technol, Dept Informat Technol & Elect Engn, CH-8092 Zurich, Switzerland
[4] Harvard Univ, Dept Phys, Cambridge, MA 02138 USA