Figure 2a presents the fabrication process of the SCS using inkjet printing. In this experiment, A4 size paper (210 mm × 297 mm) with a thickness of 80.5 μm (XDT Tracing FS, TAKEO Co.) was used. The materials used were introduced in previous studies \cite{shigemune2016origami} \cite{shigemune2021programming} \cite{shigemune2017printed} . By inkjet printing on the A4 paper, which is then set aside, valley folds are automatically formed along the printing lines. The self-folding process of paper is as follows. The reaction between paper and ink causes the fibers to expand and contract. During the expansion phase, the top surface of the paper expands, causing the paper to fold into a mountain fold against the printing surface. This is followed by a contraction phase, in which the paper folds into valley folds against the printing surface. As plastic deformation occurs, the origami structure is fixed in the valley-folded state \cite{shigemune2016origami}. Figure 2b and c present the process of SCS formation during the contraction phase. To form mountain and valley folds, a printing pattern is defined on both sides. In this study, we fabricated an SCS by inkjet printing under humidity levels ranging from 55% to 65% (± 3% RH), and set it aside for approximately 10 min. As the paper transformed into an SCS, it developed stiffness anisotropy; thus, it increased in stiffness in the direction perpendicular to the corrugation, and in flexibility in the parallel direction. The fabricated SCS was placed in a sealed container with a desiccant and stored in a low-humidity environment.