Origami turns a single silicone chamber into three different soft fluidic actuators. Crease angles alone decide whether it elongates, bends, or twists, and the fully folded chambers are cast monolithically in one day. Below 15 kPa, they reach 268% axial stretch, 72° bending, and 55° twist—no strain‐limiting layers, no rigid reinforcements, no vacuum ...
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