[1] Natl Univ Singapore, Dept Mech Engn, Singapore 117548, Singapore
[2] Singapore MIT Alliance Res & Technol SMART, Biosyst & Micromech IRG, Singapore, Singapore
[3] MIT, Dept Biol Engn, Cambridge, MA 02139 USA
[4] Wenzhou Univ, Coll Mech & Elect Engn, Wenshou, Peoples R China
[5] MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA