¹Dongguan Key Laboratory of Smart Biomaterials and Regenerative Medicine, The Tenth Affiliated Hospital, Southern Medical University, Dongguan, Guangdong 523059, China.

²Sauvage Laboratory for Smart Materials, School of Integrated Circuits, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.

³Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, China.

⁴Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing 211189, China.

⁵School of Mechanical Engineering, Southeast University (Jiulonghu Campus), Jiangning District, Nanjing 211189, China.

⁶School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China.