A method is presented for fabricating electrothermal origami with precise control and excellent mechanical performance using 4D printing of continuous fiber-reinforced composites. The method involves integrating continuous carbon fibers (CCFs) into the hinges of the origami structure to enable controlled shape-shifting through Joule heating. The CCFs significantly enhance the stiffness of the shape memory polymer (SMP) in the rubbery state, increasing it by 1000 times compared to pure SMP. The CCFs also improve thermal distribution and mechanical properties, allowing for precise control over the origami's deployment. The method includes a multi-physics simulation model that enables precise control of the origami's shape-shifting process by manipulating activation parameters. The origami can be reconfigured and locked into any desired configuration. The method demonstrates various applications, including reconfigurable robot grippers, mechanical-tunable Miura-origami units, customizable architected materials, and programmable wings. The electrothermal origami can be used in multi-scenario and multi-task applications due to its ability to modulate its properties on demand. The method also enables the design of variable thickness wings with reconfigurable geometry and inversely designable airfoils for multiple flight scenarios. The study highlights the potential of electrothermal origami in practical engineering applications, such as disaster relief structures, aerodynamic surfaces, deployable solar arrays, and antennas. The method offers an efficient way to construct and control active origami devices and machines, broadening the practical engineering applications of origami.A method is presented for fabricating electrothermal origami with precise control and excellent mechanical performance using 4D printing of continuous fiber-reinforced composites. The method involves integrating continuous carbon fibers (CCFs) into the hinges of the origami structure to enable controlled shape-shifting through Joule heating. The CCFs significantly enhance the stiffness of the shape memory polymer (SMP) in the rubbery state, increasing it by 1000 times compared to pure SMP. The CCFs also improve thermal distribution and mechanical properties, allowing for precise control over the origami's deployment. The method includes a multi-physics simulation model that enables precise control of the origami's shape-shifting process by manipulating activation parameters. The origami can be reconfigured and locked into any desired configuration. The method demonstrates various applications, including reconfigurable robot grippers, mechanical-tunable Miura-origami units, customizable architected materials, and programmable wings. The electrothermal origami can be used in multi-scenario and multi-task applications due to its ability to modulate its properties on demand. The method also enables the design of variable thickness wings with reconfigurable geometry and inversely designable airfoils for multiple flight scenarios. The study highlights the potential of electrothermal origami in practical engineering applications, such as disaster relief structures, aerodynamic surfaces, deployable solar arrays, and antennas. The method offers an efficient way to construct and control active origami devices and machines, broadening the practical engineering applications of origami.