[1] Univ Cambridge, Dept Engn, Nanosci Ctr, 11 JJ Thomson Ave, Cambridge CB3 0FF, England
[2] Harvard Univ, Wyss Inst Biol Inspired Engn, 3 Blackfan Cir, Boston, MA 02115 USA
[3] Harvard Univ, Sch Engn & Appl Sci, 29 Oxford St, Cambridge, MA 02138 USA
[4] Univ Cambridge, Dept Engn, Elect Engn Div, Trumpington St, Cambridge CB2 1PZ, England
[5] Stanford Univ, Dept Mat Sci & Engn, 496 Lomita Mall, Stanford, CA 94305 USA
[6] NASA, Ames Res Ctr, Space Biosci Div, Moffett Blvd, Stanford, CA 94305 USA