1. State Key Laboratory of Fluid Power & Mechatronic System, Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Department of Engineering Mechanics, Zhejiang University, Hangzhou 310027, China
2. College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China
3. Department of Mechanical Engineering, The City College of New York, New York, New York 10031, United States