1. Department of Pharmaceutics, Wuya College of Innovation, Shenyang Pharmaceutical University, 103 Wenhua Road, Shenyang Liaoning 110016, P. R. China
2. Multi-Scale Robotics Lab (MSRL), Institute of Robotics & Intelligent Systems (IRIS), ETH Zürich, Zürich 8092, Switzerland
3. Division of Pharmacoengineering and Molecular Pharmaceutics, Eshelman School of Pharmacy, University of North Carolina at Chapel Hill, Chapel Hill, North Carolina 27599, United States
4. Institute of Food, Nutrition and Health, ETH Zürich, Schmelzbergstrasse 7, Zürich 8092, Switzerland
5. State Key Laboratory of Pulp and Paper Engineering, South China University of Technology, Guangzhou 510641, P. R. China