was 0.825 at 20 kPa for the most bendable case, which is about 5.22 times difference (Figure 2B).
To confirm the pre-programmability of the quasi-sequential deployment and bending motion, six-module dual-origami soft fluidic bending actuators with different geometric parameters were built (Figure 2F-M). As shown in Figure 2F, J, Movie S2 and S3, we could design clear differences in motion determined by