[1] Univ Cambridge, Dept Engn, Div Elect Engn, Cambridge CB2 1PZ, England
[2] Univ Cambridge, Dept Engn, Div Mech Mat & Design, Cambridge CB2 1PZ, England
[3] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
[4] Univ Calif Berkeley, Lawrence Berkeley Natl Lab, Div Mat Sci, Berkeley, CA 94720 USA