A) Hysteresis of the actuator during passive actuation mode and the mean over cycles with a small drift error of less than 4 %. B) Cyclic test for more than 10000 to confirm the robustness and reliability of the sensorized foam. C) Fitting curve of the relative resistance data with the given function showing an accuracy value of R2 equal to 0.988. D) Evaluation of the accuracy of the fitting used to retrieve the strain from the changes in the relative resistivity. As it is possible to notice, the data show a linear relationship (error < 15%) for strain larger than 22% while for lower compression value the data deviate from the fitting with larger errors (40%). The relationship between the real and the computed strain value is plotted in Figure 2E.