Fabrication of polymeric microstructures

A method for fabricating a three-dimensional (3D) polymeric microstructure is disclosed. The method comprises 3D-printing a metallic mold, the metallic mold including a mold cavity corresponding to the 3D polymeric microstructure, polymer casting in the metallic mold by inserting a liquid polymer into the mold cavity, curing the liquid polymer inside the metallic mold, and etching the metallic mold away from the cured polymer wherein the polymeric microstructure comprises a soft polymeric microelectromechanical systems, MEMS, device, and the soft polymeric MEMS device comprises at least one sensor