Soft robots are an emerging class of robots that, differently from their conventional and rigid counterparts, are able to perform precise and delicate tasks, e.g., they can comply with external surfaces through large deformation, squeeze and navigate in unknown and small spaces, recognize shapes and textures, grasp and move delicate objects, interact safely with humans. [1,2] They are made of "soft" materials, including any gel, colloid, foam, or polymer highly prone to deformation. The soft bodies of these innovative robots are inspired by living beings that can perform smooth actions and rapidly adapt to their surroundings.In this regard, an efficient soft robot must include sensors that provide the perception of the environment and of the robot itself. Mechanical sensors are used to convert the deformations caused by mechanical stimuli into an electrical signal, which can be exploited for the robot control to grant effective and safe interactions between the soft robot and the surrounding. Due to the importance of sensing deformations, scientists researched various materials and technologies to develop soft mechanical sensors, i.e., mechanical sensors made of soft materials. [3][4][5] Generally, soft sensors are fabricated via conventional manufacturing techniques such as casting, [6] tapering and pasting, and combining different parts (i.e., dielectricconductive, substrate-electrode, etc.) in a step-by-step procedure. However, the soproduced devices suffer from poor adhesion due to the lack of mechanical and/or chemical compatibility between the various elements; moreover, the fabrication processes are excessively laborious, time-consuming, and with intrinsic low reproducibility and scalability. 3D printing, or additive manufacturing (AM), is a key technology to overcome these issues and move towards a new class of reliable and scalable soft sensors. It is one of the most disruptive technologies of the last decades that enables the fabrication of complex shapes by adding sub-units of material starting from a digital model, [7] in contrast to conventional, subtractive technologies. Due to the intrinsic design freedom and the possibility of using deformable materials, AM allows the implementation of complex soft robotic designs, [8] reaching applications in several fields such as biomedical engineering, healthcare, food, fashion, automotive, aerospace, etc. [9][10][11][12][13][14] Besides the seamless fabrication procedure, AM guarantees the opportunity to build actual 3D geometries, unlike previous 2D and 2.5D fabrication technologies. [15,16] This aspect is crucial and opens technological possibilities such as: 1) inspiration from natural sensory receptors to guide new morphological designs, 2) enhancing the deformation of the bulk material by incorporating voids through lattice-like geometries, and 3) investigating designs that enhance deformations in specific directions. These new design principles can pave the way to develop soft mechanical sensors able to discriminate different types of mechanical stimuli...