Image sensing devices and methods for fabricating the same are provided. The foot structure includes a support; a plurality of lower structures having an upper member connected to a bottom of the support; a plurality of lower members having a plurality of independent portions each movably connected to the upper member; and a revolute joint for coupling the upper member and the lower member. The first and second braided fiber reinforcing layers 2, 3 are bonded through an adhesion layer 4 to the outer tube rubber layer 5. Electrical conductors extend through the lumen of the body frame to the mapping electrodes. This configuration creates a threaded engagement element with self-locking threads, which prevents unintentional loosening.