[1] Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
[2] Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA
[3] Harvard Mit Div Hlth Sci & Technol, Cambridge, MA 02139 USA
[4] Duke Univ, Dept Mech Engn & Mat Sci, Soft Act Mat Lab, Durham, NC 27708 USA
[5] Sungkyunkwan Univ, Sch Chem Engn, Suwon 440746, South Korea