1. Complex Materials Department of Materials ETH Zürich Zürich 8093 Switzerland
2. Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA 91125 USA
3. Institute for Biomechanics Department of Health Sciences and Technology ETH Zürich Zürich 8093 Switzerland
4. Center for Soft Robotics SDU Biorobotics The Maersk McKinney Moller Institute University of Southern Denmark Odense 5230 Denmark