Design and validation of a programmable dual-tunnel soft pneumatic origami actuator with a large maximum shrinkage rate for reciprocating motion by R. Xu, R. Xu, R. Xu, Q. Meng, Q. Meng, Q. Meng, Q. Xie, Q. Xie, Q. Xie, Y. Zheng, Y. Zheng, Y. Zheng, C. Fei, C. Fei, C. Fei, V. Parenti Castelli, H. Yu, H. Yu, H. Yu

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