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Microfabricated nozzle-array devices have been newly developed to form multilamellar lipid tubes (MLTs), in which the dried films of phospholipids are swelled through the micronozzles and the fluidic shear-stress is utilized not only to control the morphology of MLTs but also to store deformation energy producing self-actuating MLTs. MLTs were successfully formed with high reproducibility and the diameter was precisely controlled from 2 to 4 μm. In addition, we were able to control the transformation of MLTs from straight tubular shape into different two patterns (yarn ball and helix), and further obtained the unprecedented self-actuating molecular assembly. The self-actuating MLTs would be utilized as models of automatically moving cell membranes, dynamic sensors, and biomimetic machines.