Date of download: 1/2/2018 Copyright © ASME. All rights reserved. From: Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper J. Mechanisms Robotics. 2015;7(2):021005-021005-7. doi:10.1115/1.4029492 Figure Legend: Adhesive wedges cast on 25 μm film; total film thickness is 75 μm backing plus 50 μm texture features. Sample is from a patch of adhesives approximately 2.5 cm square; backing thickness was uniform throughout to within ±10 μm. Wedges are Sylgard 170, film is Kapton.