[1] Daegu Gyeong buk Inst Sci & Technol DGIST, Dept Robot & Mechatron Engn, Daegu 42988, South Korea
[2] Daegu Gyeong buk Inst Sci & Technol DGIST, DGIST ETH Microrobot Res Ctr, Daegu 42988, South Korea
[3] Daegu Gyeong buk Inst Sci & Technol DGIST, DGIST ETH Microrobot Res Ctr, Robot Res Ctr, Daegu 42988, South Korea
[4] Daegu Gyeong buk Inst Sci & Technol DGIST, Div Biotechnol, Daegu 42988, South Korea
[5] IMsystem Co Ltd, Daegu 42988, South Korea
[6] Swiss Fed Inst Technol, Inst Robot & Intelligent Syst, Multiscale Robot Lab, CH-8092 Zurich, Switzerland
[7] Inst Basic Sci IBS, Ctr Selfassembly & Complex, Pohang 37673, Gyeongbuk, South Korea
[8] Pohang Univ Sci & Technol POSTECH, Dept Chem, Pohang 37673, Gyeongbuk, South Korea
[9] Daegu Gyeong buk Inst Sci & Technol DGIST, Robot Res Ctr, Daegu 42988, South Korea