“…The model of the flexible polymeric substrate was 3D-printed using Cheetah filament, a thermoplastic elastomer (TPE) filament in the shore hardness 95A (Ninjatek, Manheim, PA, USA) and PANI doped by the use of dodecylbenzene sulfonic acid (DBSA) prepared according to the protocols described by Holness et al [ 25 ]. To this end, a specialized multi-material 3D printing technique has been developed at the Organic Mechatronics and Smart Materials Laboratory for direct-ink writing processes using a modified fused filament fabrication delta robot equipped with an integrated polymer paste extruder, which has been discussed in detail elsewhere [ 12 , 25 , 26 ]. In accordance with this technique, PANI was dispensed using a 22 Gauge stainless steel tip (Nordson EFD, East Providence, RI, USA), in a rectilinear fill pattern, and without a perimeter wall.…”