Extended Data Fig. 6: Design and fabrication of the kirigami transmission structure.

a, Basic split-crease unit cell design and fully folded Kresling-pattern-inspired kirigami structure. Parameters α and β are discussed in the Supplementary Methods. b, Design of a variant cell that uses a combination of straight and curved creases, which further increases the internal space. c, Curved crease design using the Bézier curve method, in which P1–P5 are control points (discussed in the Supplementary Methods). d, Kirigami structure with only straight valley creases in the folded state (h = 6.75 mm). e, Variant kirigami structure with 2 mm straight crease length (h = 6.75 mm; folded state). f, Crease length, 4 mm. g, Two-tiered kirigami structure illustrating switchable motion states. h, Bottom view of the contacting elements (ring and disc). i, 2D patterns of the lower and upper tier kirigami modules for fabrication. j, Panels used to make the kirigami structure, consisting of one layer of PET plastic sheet and two layers of PU thin-film tape. k, Photograph of the flat kirigami panel used for fabricating the 3D structure. l, Photograph of the assembled lower and upper tier kirigami modules.