Sensor-Integrated TPU Soft Actuators Fabricated by Foam Additive Manufacturing

Dataset description This Dataverse record accompanies the manuscript “Sensor-Integrated TPU Soft Actuators Fabricated by Foam Additive Manufacturing” (Detry, Di Maio, Tammaro, Squillace) and provides the tracking videos, processed outputs, and MATLAB code used to extract and visualize finger/phalanx motion trajectories during actuation tests. The paper introduces a manufacturing route to fabricate sensor-integrated soft actuators directly from carbon-black-filled thermoplastic polyurethane (TPU) using Foam Additive Manufacturing (FAM). In FAM, CO2 is physically solubilized in the filament and released during extrusion, generating a homogeneous microcellular morphology that simultaneously reduces density (up to 42.2%) and stabilizes the electromechanical (piezoresistive) response under deformation. To support the device-level evaluation, this dataset contains the motion-tracking material used in the finger assembly testing section: cropped and annotated videos with tracked points, MATLAB .mat files storing ROI/cropping parameters and trajectories, and publication-ready trajectory overlays exported as .eps. The scripts allow full reproduction of the workflow from a raw video to the final trajectories figure. What is included Processed tracking videos (.avi) showing the ROI and tracked point trajectories. Trajectory data (.mat) including crop parameters (x, y, width, height), initial points, and tracked trajectories across frames. Trajectory figures (_trajectories.eps) for publication-quality visualization. MATLAB code (CropVideo.m, track4P.m, TrajectoryPlot.m) required to reproduce the tracking pipeline. Reproducibility notes Point selection (4 points) and ROI selection are interactive and therefore user-dependent. To process a new video: run CropVideo.m → track4P.m → TrajectoryPlot.m. Run names encode specimen/test identifiers and conditions (e.g., Catch, NoCatch, Release_Cut, V2). Recommended citation Please cite the associated manuscript and this Dataverse dataset (use the DOI assigned by Dataverse once published). Keywords: Foam Additive Manufacturing; conductive TPU; soft actuators; piezoresistive sensing; soft robotics; motion tracking; MATLAB