1. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR 999077 China
2. Beijing Computational Science Research Center Haidian District Beijing 100193 China
3. The BioRobotics Institute Scuola Superiore Sant'Anna Pisa 56025 Italy
4. Soft Machines Lab Carnegie Mellon University Pittsburgh PA 15213 USA
5. Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong SAR 999077 China
6. CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong SAR 999077 China
7. Department of Surgery The Chinese University of Hong Kong Hong Kong SAR 999077 China