[1] Swiss Fed Inst Technol, Inst Robot & Intelligent Syst, Multiscale Robot Lab, Tannenstr 3, CH-8092 Zurich, Switzerland
[2] Sun Yat Sen Univ, Sch Mat Sci & Engn, State Key Lab Optoelect Mat & Technol, Guangzhou 510275, Peoples R China
[3] Swiss Fed Inst Technol, Inst Chem & Bioengn, Dept Chem & Appl Biosci, Vladimir Prelog Weg 1, CH-8093 Zurich, Switzerland
[4] Univ Barcelona, Dept Phys Chem, Marti i Franqueis 1, Barcelona 08028, Spain
[5] Jozef Stefan Inst, Adv Mat Dept, Jamova 39, Ljubljana 1000, Slovenia
[6] Univ Barcelona UB, Inst Quim Teor & Computac, Dept Ciencia Mat & Quim Fis, Barcelona 08028, Spain
[7] Inst Catalana Recerca & Estudis Avancats ICREA, Pg Lluis Co 23, Barcelona 08010, Spain