1. Department of Biomedical Engineering, College of Design and Engineering, National University of Singapore, Singapore 117583, Singapore
2. Institute of Sustainability for Chemicals, Energy and Environment, Agency for Science, Technology and Research (A*STAR), 1 Pesek Road, Jurong Island, Singapore 627833, Singapore
3. Institute of Materials Research and Engineering, Agency for Science, Technology and Research (A*STAR), 2 Fusionopolis Way, Innovis, #08-03, Singapore 138634, Singapore
4. Department of Materials Science and Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576, Singapore
5. Advanced Robotics Center, College of Design and Engineering, National University of Singapore, Singapore 117583, Singapore