[1] Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA
[2] Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA
[3] Univ Calif San Francisco, Sch Med, San Francisco, CA 94143 USA
[4] Univ Calif Berkeley, Dept Bioengn, Berkeley, CA 94720 USA
[5] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 0G4, Canada
[6] McGill Univ, Dept Biomed Engn, Montreal, PQ H3A 0G4, Canada