(the conventional design is still advantageous for large bending because of the trade-off relationship between deployment and bending, which is further discussed in section 2.2). The aspect ratio of the dual-origami bending actuators was initially 0.657 and increased up to 3 when unfolded, which is similar to the conventional soft bending actuator’s aspect ratio of 2.89 (dimensions of both actuators are shown in Figure S1).