1. State Key Laboratory of Fluid Power & Mechatronic System
2. Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province
3. and Department of Engineering Mechanics
4. Zhejiang University
5. Hangzhou 310027
6. College of Biosystems Engineering and Food Science
7. Hangzhou 310058
8. China
9. Department of Mechanical Engineering
10. The City College of New York
11. New York
12. USA