1. Department of Mechanical and Process Engineering, ETH Zurich, Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, Tannenstrasse 3, 8092 Zurich, Switzerland
2. Molecular Neuroscience Group, Department of Chemical Engineering and Biotechnology, University of Cambridge, Philippa Fawcett Drive, CB3 0AS Cambridge, United Kingdom
3. Department of Mechanical and Process Engineering, ETH Zurich, Mechanics and Experimental Dynamics, Institute of Mechanical Systems, Tannenstrasse 3, 8092 Zurich, Switzerland
4. Department of Biology, ETH Zurich, Institute of Biochemistry, Otto-Stern-Weg 3, 8093 Zurich, Switzerland
5. Department of Mechanical and Process Engineering, ETH Zurich, Acoustic Robotics Systems Lab, Säumerstrasse 4, 8803 Rüschlikon, Switzerland