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. Synthetic Biology Group Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA 02139 USA
4. Department of Biological Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA
5. Department of Materials Science and Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA
6. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA 02139 USA
7. Department of Civil and Environmental Engineering Massachusetts Institute of Technology Cambridge MA 02139 USA