This Supporting information includes:1. Component Selection and Performance of SFA2. Actuator Manufacturing and Preparation of Conductive Ink 3. Average Thickness of Conductive Coating layer on PU Foam4. Time Response of the Actuator in Different Modes 5. Characterization and Experimental Setup6. Measurement and Data Analysis7. Design Specifications of Soft Robotic Applications8. Supporting Video Corresponding author Email:  saravanaprashanth@outlook.com, barbara.mazzolai@iit.it