ToC Figure. This work establishes a soft fluidic bending actuator  design method where  two folded origami architectures are superimposed, to produce pre-programmable quasi-sequential deployment and bending motion in response to single fluid input. Versatile soft gripper utilizing the advantages of compactness and deployment is demonstrated. Low-cost 3D printing and heat treatment post-processing are applied for fabrication of the dual-origami soft actuators.