[1] Tech Univ Munich TUM, Sch Computat Informat & Technol, Dept Elect Engn, Microrobot Bioengn Lab MRBL, Hans Piloty Str 1, D-85748 Garching, Germany
[2] Tech Univ Munich, Munich Inst Robot & Machine Intelligence, Georg Brauchle Ring 60, D-80992 Munich, Germany
[3] Tech Univ Munich, Munich Inst Biomed Engn, Boltzmannstr 11, D-85748 Garching, Germany
[4] Tech Univ Munich TUM, Sch Computat Informat & Technol, Dept Elect Engn, Neuroelect, D-85748 Garching, Germany