1. Living Systems Institute, Department of Physics and Astronomy, University of Exeter, EX4 4QD, Exeter, UK
2. Max Planck Institute for the Science of Light, Staudtstr. 2, D-91058 Erlangen, Germany
3. Center for Micro-BioRobotics, Italian Institute of Technology, Viale Rinaldo Piaggio, 34, 56025 Pontedera, Italy