) significantly changed the dominance of deployment and bending.
 
Characterization and Measurement: For the parametric study, we prepared five six-module dual-origami soft fluidic bending actuators for each geometric parameter. Red or blue dots were marked with a pen on the side edge of the modules. A protruded diamond shaped crease line loop at the bottom was surrounded and held by 3d printed rigid parts, and then these rigid parts were fixed to an aluminum optical breadboard. Dual-origami soft fluidic bending actuators were installed vertically to the gravity direction to ensure that gravity does not affect the deployment. For every specimen, photographs were taken for applied pressure from 0 to 200 kPa with 10 kPa increments, which was precisely controlled by a pressure regulator (RVUM, PISCO). The photographs were analyzed with MATLAB (MathWorks). The center positions of the marked circles were automatically found and characterized based on the color information. The angle between adjacent modules (