1. Soft Active Materials Laboratory; Department of Mechanical Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA
2. Department of Chemical Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA
3. Samsung Display Research Institute; Yongin-City Gyeonggi-Do 446-711 South Korea
4. Department of Mechanical Engineering; University of Houston; Houston TX 77204 USA
5. Department of Civil and Environmental Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA