[1] Brown Univ, Div Appl Math, Providence, RI 02912 USA
[2] Brown Univ, Sch Engn, Providence, RI 02912 USA
[3] MIT, Dept Mat Sci & Engn, Cambridge, MA 02139 USA
[4] Rice Univ, Dept Bioengn, Houston, TX USA
[5] Zhejiang Univ, Dept Engn Mech, Key Lab Soft Machines & Smart Devices Zhejiang Pr, Hangzhou, Zhejiang, Peoples R China