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Different from humans and insects, spiders use muscles to flex their legs, and hydraulic actuation for extension. By pressurizing their inner body fluid, they can achieve fast leg extensions for running and jumping. Here, the working principle of the articular membrane covering the spider leg joint pit is investigated. This membrane is highly involved in walking, grasping, and jumping motions. Hardness and stiffness of the articular membrane is studied using nanoindentation tests and preparation methods for scanning electron microscopy and histology are developed to give detailed information about the inner and outer structure of the leg joint and its membrane. Inspired by the stroller umbrella\u2010like folding mechanism of the articular membrane, a robust thermoplastic polyurethane\u2010based rotary semifluidic actuator is demonstrated, which shows increased durability, achieves working angles over 120\u00b0, produces high torques which allows lifts over 100 times of its own weight and jumping abilities. The developed actuator can be used for future grasping tasks, safe human\u2013robot interactions and multilocomotion ground robot applications, and it can shed light into spider locomotion\u2010related questions.<\/jats:p>","DOI":"10.1002\/advs.202003890","type":"journal-article","created":{"date-parts":[[2021,1,21]],"date-time":"2021-01-21T13:53:47Z","timestamp":1611237227000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":47,"title":["Spider Origami: Folding Principle of Jumping Spider Leg Joints for Bioinspired Fluidic Actuators"],"prefix":"10.1002","volume":"8","author":[{"given":"Chantal","family":"G\u00f6ttler","sequence":"first","affiliation":[{"name":"Physical Intelligence Department Max Planck Institute for Intelligent Systems  Stuttgart 70569 Germany"},{"name":"Autonomous Systems Laboratory ETH Zurich  Z\u00fcrich 8092 Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Karin","family":"Elflein","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department Max Planck Institute for Intelligent Systems  Stuttgart 70569 Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[{"name":"Autonomous Systems Laboratory ETH Zurich  Z\u00fcrich 8092 Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8249-3854","authenticated-orcid":false,"given":"Metin","family":"Sitti","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department Max Planck Institute for Intelligent Systems  Stuttgart 70569 Germany"},{"name":"Institute for Biomedical Engineering ETH Zurich  Z\u00fcrich 8092 Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,1,21]]},"reference":[{"key":"e_1_2_6_1_1","doi-asserted-by":"publisher","DOI":"10.1080\/11762320802557865"},{"key":"e_1_2_6_2_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915592961"},{"key":"e_1_2_6_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_2_6_4_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_6_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201800907"},{"key":"e_1_2_6_6_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0007"},{"key":"e_1_2_6_7_1","doi-asserted-by":"publisher","DOI":"10.3390\/robotics5030015"},{"key":"e_1_2_6_8_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235-019-0031-6"},{"key":"e_1_2_6_9_1","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1007\/978-3-642-33989-9_4","volume-title":"Hydraulic System of Locomotion Spider Ecophysiology","author":"Kropf C.","year":"2013"},{"key":"e_1_2_6_10_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00611101"},{"key":"e_1_2_6_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00376004"},{"key":"e_1_2_6_12_1","doi-asserted-by":"publisher","DOI":"10.1093\/zoolinnean\/zly058"},{"key":"e_1_2_6_13_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.36.2.423"},{"key":"e_1_2_6_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00359-019-01336-2"},{"key":"e_1_2_6_15_1","first-page":"3669","author":"Zhu Y.","year":"2019","journal-title":"Chin. 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