[1] Zhejiang Univ, Dept Engn Mech, Hangzhou 310027, Zhejiang, Peoples R China
[2] Zhejiang Univ, SMRC, Hangzhou 310027, Zhejiang, Peoples R China
[3] Key Lab Soft Machines & Smart Devices Zhejiang Pr, Hangzhou 310027, Zhejiang, Peoples R China
[4] Univ Nebraska, Dept Mech & Mat Engn, Lincoln, NE 68588 USA