[1] Ist Italiano Tecnol, IIT SSSA, Ctr MicroBioRobot, Viale Rinaldo Piaggio 34, I-56025 Pontedera, Italy
[2] Univ Leeds, Sch Elect & Elect Engn, Woodhouse Lane, Leeds LS2 9JT, W Yorkshire, England
[3] Univ Leeds, Leeds Inst Biomed & Clin Sci, Sch Med, Woodhouse Lane, Leeds LS2 9JT, W Yorkshire, England
[4] Waseda Univ, Waseda Inst Adv Study, TWIns, Shinjuku Ku, 2-2 Wakamatsu Cho, Tokyo 1628480, Japan
[5] PRESTO, Japan Sci & Technol Agcy, 4-1-8 Honcho, Kawaguchi, Saitama 3320012, Japan
[6] Waseda Univ, Fac Sci & Engn, Dept Life Sci & Med Biosci, TWIns,Shinjuku Ku, 2-2 Wakamtsu Cho, Tokyo 1628480, Japan
[7] Univ Trento, Dept Civil Environm & Mech Engn, Lab Bioinspired & Graphene Nanomech, Via Mesiano 77, I-38123 Trento, Italy
[8] Queen Mary Univ London, Sch Engn & Mat Sci, Mile End Rd, London E1 4NS, England
[9] Edoardo Amaldi Fdn, Italian Space Agcy, Ket Lab, Via Politecn Snc, I-00133 Rome, Italy