1. School of Materials Science and Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
2. Singapore-HUJ Alliance for Research and Enterprise (SHARE), The Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore 138602, Singapore
3. Casali Center for Applied Chemistry, Institute of Chemistry, The Hebrew University of Jerusalem, Edmond J. Safra Campus, 91904 Jerusalem, Israel