1. Department of Engineering Mechanics, Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou 310027, P. R. China
2. Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P. R. China
3. Advanced Biomedical Instrumentation Centre, Hong Kong Science Park, Shatin, New Territories, Hong Kong, P. R. China