A Model of Arm-like Flexible Tensegrity

Tensegrity refers to a structure in which struts under compressive force and cables under tensile force are pin-connected to form a three-dimensional shape with no connection between struts. Those not included in this definition are sometimes called tensegrity, but this is the original and strict definition. Tensegrity is characterized by its ultra-lightweight structure, excellent design, and the ability to deform and fold in response to external forces by introducing flexibility into some of its components. In addition, it has similar features to musculoskeletal systems such as the shape and posture are determined by forces that are canceled within the structure. By introducing flexibility to the arm-like tensegrity, we are developing a lightweight, flexible robot arm that can assume a bending posture. We have verified this approach based on a model of arm-like flexible tensegrity.

Tensegrity Robot Arm driven by Pneumatic Actuators

We are currently developing a flexible tensegrity robot arm that can continuously bending by pneumatic actuators, based on the model shown above. Our paper has been published! It is open access, so please read it and check attached videos if you are interested.

Reference

• Shuhei Ikemoto, Kenta Tsukamoto, and Yuhei Yoshimitsu, "Development of a Modular Tensegrity Robot Arm Capable of Continuous Bending", Frontiers in Robotics and AI, 01 November 2021, https://doi.org/10.3389/frobt.2021.774253.