1. Department of Mechanical Engineering, Technische Universitaet Darmstadt, Petersenstrasse 30, 64287 Darmstadt, Germany
2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
3. Department of Mechanical Engineering, University of Tokyo, Tokyo 113-8656, Japan
4. Center of Smart Interfaces, Technische Universitaet Darmstadt, Darmstadt D-64287, Germany