“…However, recent results on electrospun hierarchical scaffolds, similar to HNES herein proposed, showed good cellular proliferation, infiltration, and elongation along the nanofibers direction in the whole structures, both in static and dynamic conditions (Sensini and Cristofolini, 2018;Apsite et al, 2019;Sensini et al, 2019bSensini et al, , 2020. Regarding potential soft robotics applications, several studies have investigated the combination of polyurethane coated with conjugated polymers such as polyaniline (Kang Gu et al, 2009), polypirrole Ebadi et al (2019a,b) and PEDOT (Kwon et al, 2013), showing a good match between an electrostrictive and an elastomeric element. Polyurethane has been also used in blend with cellulose (Wang et al, 2018) or CNTs (Meng et al, 2019) in order to be actuated by moisture or electrical stimuli, respectively.…”