A highly miniaturized three-dimensional spherical folded dipole antenna has been reported, for which inherent impedance matching is achieved with respect to a practical source impedance by employing a simple series-LC loading combination, thereby engineering its input impedance. In order to maximize its bandwidth, the miniaturized antenna employs a spherical helix structure as the folded arm that occupies the full volume of the corresponding Chu sphere. A bifilar (two folded arms) and a quadrifilar (four folded arms) helix loaded folded dipole antenna are designed, and full-wave simulations show that both the resulting antennas demonstrate excellent impedance matching when miniaturized by 85% in comparison to a resonant dipole operating at the same frequency. Despite the high degree of miniaturization, the resulting radiation efficiencies for the bifilar and quadrifilar antennas are found to be 87.1% and 90.6%, respectively. Furthermore, various quality-factor definitions are explored for the quadrifilar antenna, and it is observed that the resulting quality factor is around 1.83 (1.22) times that predicted by the Chu (Thal) lower bound.