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In this work , flexible thermoplastic polyurethane/multiwalled carbon nanotube ( TPU-MWCNT ) composites were printed using multi-material fused filament fabrication ( FFF ) to study their feasibility towards built-in sensing capabilities in soft robotics .
 thermoplastic, carbon nanotube, composites, multi-material, fused filament fabrication, FFF, feasibility, sensing, soft robotics
Please list all entity words in the text that fit the category. Output format is "word1, word2". 
Option: manufacturing standard, machanical property, manufacturing process, material, engineering feature, process parameter, machine or equipment, application, process characterization, enabling technology, biomedical, concept or principle 
Text: {0} 
Answer:
 thermoplastic, carbon nanotube, composites, multi-material, fused filament fabrication, FFF, feasibility, sensing, soft robotics