Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Integrated Manufacture of Exoskeletons and Sensing Structures for Folded Millirobots J. Mechanisms Robotics. 2015;7(2):021011-021011-19. doi:10.1115/1.4029495 Figure Legend: Laminar fabrication of sensory foam structures: Patterned cardboard base for foam structures (a), patterned sheet adhesive laminated over base (b), regions of adhesive exposed for anchoring inner foam walls (c), foam strips laminated down onto exposed adhesive regions (d), inner foam walls laser-cut from foam strips (e), taller, patterned foam laminated onto reflective Mylar-film (f), taller foam laminated onto base (g), and foam structures are isolated by cutting through Mylar-film and underlying foam, but not cardboard base, and peeling away excess material ((h) and (i))