Design and principle of the dual-origami soft fluidic bending actuator. A) Unfolding of six-module dual-origami soft fluidic bending actuator. Note that the colors (red and yellow) are virtually overlaid to distinguish the components, and are actually monochromatic (white). B) Parent paper origami structures and their schematic drawings of behavior in a dual-origami soft fluidic bending actuator. C) End-tip trajectories of dual-origami soft fluidic bending actuator (red) and conventional soft pneumatic bending actuator (black). D) Quasi-sequential deployment and bending motion of six-module dual-origami soft fluidic bending actuator. Insets represent corresponding simulation result. E) Deployment ratio (\(\lambda\), red) and bending angle (\(\phi\), blue) in response to applied pressure.