1. Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, 310027, China;
2. Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
3. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, 10129, Italy
4. Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China;
5. School of Mathematics, Statistics and Applied Mathematics, NUI Galway, University Road, Galway, H91 TK33, Ireland
6. State Key Lab of CAD and CG, Zhejiang University, Hangzhou, 310058, China;
7. Soft Matter Research Center, Zhejiang University, Hangzhou, 310027, China e-mail: