[1] Zhejiang Univ, Key Lab Soft Machines & Smart Devices Zhejiang Pro, Hangzhou 310027, Peoples R China
[2] Zhejiang Univ, Dept Engn Mech, Hangzhou 310027, Peoples R China
[3] Zhejiang Univ, Soft Matter Res Ctr, Hangzhou 310027, Peoples R China
[4] Ctr Soft Machines & Smart Devices, Huanjiang Lab, Zhuji 311816, Peoples R China
[5] Ningbo Univ, Fac Mech Engn & Mech, Ningbo 315211, Peoples R China