[1] Department of Applied Mechanics, Beijing Institute of Technology, Beijing,100081, China
[2] Oujiang Laboratory, Wenzhou Institute, University of Chinese Academy of Sciences, Wenzhou,325001, China
[3] Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing,100083, China
[4] Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Department of Engineering Mechanics, Zhejiang University, Hangzhou,310027, China