1. Department of Engineering Mechanics, Zhejiang University, Hangzhou, Zhejiang 310027, China e-mail:
2. Department of Engineering Mechanics, Zhejiang University, Hangzhou, Zhejiang 310027, China;
3. Soft Matter Research Center (SMRC), Zhejiang University, Hangzhou, Zhejiang 310027, China;
4. Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Hangzhou, Zhejiang 310027, China e-mail:
5. Department of Mechanical and Materials Engineering, The University of Nebraska-Lincoln, Lincoln, NE 68588-0526 e-mail: