A dual-origami two-finger gripping unit. Gripping motion and affordable object size of A) a conventional soft gripper and B) a dual-origami two-finger gripping unit, and comparison of their C) possible approaching paths. D) Motion and configuration design of the gripping units. E) The gripping force of the Design I gripping unit (P= 200kPa) when the gripped cylinder (D= 50mm) is pulled-out. F) Peak gripping forces of the Design I gripping unit in response to applied pressure for different cylinder diameters.