[1] MIT, 77 Massachusetts Ave, Cambridge, MA 02139 USA
[2] Tech Univ Munich, Dept Mech Engn, D-85748 Garching, Germany
[3] Tech Univ Munich, Inst Med Engn IMETUM, D-85748 Garching, Germany
[4] Innovat Platforms Johnson & Johnson Family Consum, Oral & Top Healthcare R&D, Skillman, NJ 08558 USA