1. Soft Active Materials Laboratory; Department of Mechanical Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA
2. Department of Chemical Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA
3. Synthetic Biology Group; Research Laboratory of Electronics; Massachusetts Institute of Technology; Cambridge MA 02139 USA
4. Department of Biological Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA
5. Department of Materials Science and Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA
6. Department of Electrical Engineering and Computer Science; Massachusetts Institute of Technology; Cambridge MA 02139 USA
7. Department of Civil and Environmental Engineering; Massachusetts Institute of Technology; Cambridge MA 02139 USA