Parametric study of two-module dual-origami soft fluidic bending actuator and pre-programming of the quasi-sequential deployment and bending motion for six-module dual-origami soft fluidic bending actuators. A) Geometric parameters (\(\frac{l}{L}\) and \(w\)) and output angles (\(\theta_{ori}\) and \(\theta_{free}\)).  B) Bending-to-deployment ratio factor (  \(C\))  in response to applied pressure. C) Experimental and simulation results of the angle between two-modules in response to applied pressure without a strain-limiting layer, (D and E) with strain-limiting layers of different D) length ratio and E) width. F) For strain-limiting layer with different width,  six-module dual-origami soft fluidic bending actuators were placed in raw and actuated simultaneously by same applied pressure. Experimental and simulation results for G) end-tip trajectories, H) deployment ratio (\(\lambda\)) and I) bending angle (\(\phi\)) were plotted. (J, K, L, and M) Same procedure as (F-I) were performed for strain-limiting layer with different length ratio (\(\Lambda\)).