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To integrate these two contrary features, several variable\u2010stiffness structures are investigated while requiring a longer processing time and more energy for switching from a stiffer to softer status, with only one status at a specific point in time. Inspired by the combined softness\u2013rigidity hybrid property of desert iguanas\u2019 skin, the concept of an anisotropic stiffness structure is developed, which simultaneously possesses rigidity and softness properties in different directions, leading to the development of novel soft robots. This anisotropic stiffness structure comprises a silicone\u2013paper composite with multiple superimposed origami patterns and has high stiffness and softness properties. 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