@inproceedings{MerkerBoehmZentner, author = {Merker, Lukas and B{\"o}hm, Valter and Zentner, Lena}, title = {Modellbildung und Steifigkeitsanalyse eines nachgiebigen Tensegrity-{\"a}hnlichen Koppelelements}, series = {15. Kolloquium Getriebetechnik, 2023, Aachen}, booktitle = {15. Kolloquium Getriebetechnik, 2023, Aachen}, publisher = {Verlag Mainz}, address = {Aachen}, pages = {63 -- 66}, language = {en} } @misc{ChavezVegaBoehmYinetal., author = {Chavez Vega, Jhohan Harvey and B{\"o}hm, Valter and Yin, J. and Becker, Tatiana I. and K{\"o}hring, Sebastian and Monkman, Gareth J. and Odenbach, Stefan and Zimmermann, Klaus}, title = {Field induced plasticity of magneto-sensitive elastomers for gripping technology applications}, series = {6th Colloquium of SPP 1681, Benediktbeuern, 26. - 28.09.2018 : Book of Abstracts}, journal = {6th Colloquium of SPP 1681, Benediktbeuern, 26. - 28.09.2018 : Book of Abstracts}, pages = {16 -- 17}, language = {en} } @inproceedings{HerrmannSchaefferZentneretal., author = {Herrmann, David and Schaeffer, Leon and Zentner, Lena and B{\"o}hm, Valter}, title = {Theoretical considerations on 3D tensegrity joints for the use in manipulation systems}, series = {Engineering for a changing world : 60th ISC, Ilmenau Scientific Colloquium, Technische Universit{\"a}t Ilmenau, September 4-8, 2023}, booktitle = {Engineering for a changing world : 60th ISC, Ilmenau Scientific Colloquium, Technische Universit{\"a}t Ilmenau, September 4-8, 2023}, publisher = {Technische Universit{\"a}t Ilmenau}, address = {Ilmenau}, doi = {10.22032/dbt.58888}, pages = {1 -- 13}, abstract = {This paper presents a comprehensive analysis of a three-dimensional compliant tensegrity joint structure, examining its actuation, kinematics, and response to external loads. The study investigates a baseline configuration and two asymmetric variants of the joint. The relationship between the shape parameter and the parameters of the tensioned segments is derived, enabling the mathematical description of cable lengths for joint actuation. Geometric nonlinear static finite element simulations are performed to analyze the joint's response under various load conditions. The results reveal the joint's range of motion, the effect of different stiffness configurations, and its deformation behavior under external forces. The study highlights the asymmetric nature of the joint and its potential for targeted motion restriction. These findings advance the general understanding of the behavior of the considered tensegrity joint and provide valuable insights for their design and application in soft robotic systems.}, language = {en} } @inproceedings{HerrmannSchaefferMerkeretal., author = {Herrmann, David and Schaeffer, Leon and Merker, Lukas and Zentner, Lena and B{\"o}hm, Valter}, title = {An Approach to the Realization of Multistable Tensegrity Structures with Deformable Compressed Members}, series = {Microactuators, Microsensors and Micromechanisms : MAMM 2024.}, booktitle = {Microactuators, Microsensors and Micromechanisms : MAMM 2024.}, editor = {Nguyen, Duc-Nam and Tran, Ngoc Dang Khoa and van Huynh, Tuan and Ono, Takahito and van Nguyen, Hieu and Pandey, Ashok Kumar}, publisher = {Springer Nature}, address = {Cham}, isbn = {978-3-031-83356-4}, doi = {10.1007/978-3-031-83357-1_34}, pages = {343 -- 350}, abstract = {Within this paper a novel tensegrity-mechanism is described. The mechanism is based on a tensegrity principle with multiple states of self-equilibrium. The tensegrity mechanism is built upon a mechanical compliant tensegrity structure, consisting of tensioned and compressed members. The existence of the different states of self-equilibrium depends on the parameters of deformable compressed members with continuous or discontinuous load-displacement characteristic. The working principle of the mechanism and the mechanical compliance is verified by theoretical investigations. Therefore, in the first step, the deformable compressed members are analyzed separately. With the help of the subsequent following form-finding procedure the equilibrium configurations of the mechanism and their static stability are analyzed in dependence of the mechanical parameters of the compressed and tensioned members. As a specific application case, the use of the mechanism as a variable stiffness device is discussed.}, language = {en} } @misc{HerrmannSchaefferSchmittetal., author = {Herrmann, David and Schaeffer, Leon and Schmitt, Lukas and K{\"o}rber, Wolfgang and Merker, Lukas and Zentner, Lena and B{\"o}hm, Valter}, title = {Design, Erprobung und Vergleich von zwei Manipulatoren auf Basis von nachgiebigen Tensegrity-Strukturen}, series = {10. IFToMM D-A-CH Konferenz 2024: 05./06. M{\"a}rz 2024, Universit{\"a}t Rostock}, journal = {10. IFToMM D-A-CH Konferenz 2024: 05./06. M{\"a}rz 2024, Universit{\"a}t Rostock}, doi = {10.17185/duepublico/81587}, abstract = {Kurzfassung des Tagungsbeitrags.}, language = {de} } @article{BeckerBoehmSchaleetal., author = {Becker, Tatiana I. and B{\"o}hm, Valter and Schale, Florian and Zimmermann, Klaus}, title = {Vibrating sensor unit made of a magnetoactive elastomer with field-adjustable characteristics}, series = {Journal of Magnetism and Magnetic Materials}, volume = {498}, journal = {Journal of Magnetism and Magnetic Materials}, number = {March}, publisher = {Elsevier}, doi = {10.1016/j.jmmm.2019.166196}, abstract = {The present work deals with the investigation of the oscillatory behavior displayed by a vibrating sensor unit made of a magnetoactive elastomer (MAE). Since this type of smart materials consists of an elastic matrix and micro-magnetic particles, it reveals exceptional magnetic-field-dependent material properties. The forced vibration response under the bending of the MAE unit subjected to in-plane harmonic kinematic excitation of the housing is studied. It is found that the amplitude-frequency characteristics of the MAE unit can be changed considerably by means of an external homogeneous magnetic field. With and without applied field, the unit displays different steady-state responses for the same excitation, and the resonance occurs at various ranges of the excitation frequency. The nonlinear phenomenon of the resonance hysteresis is observed depending on whether the excitation frequency increases or decreases. It is shown that the MAE vibrations can be detected based on the magnetic field distortion measurements. The presented prototype of the MAE-based vibrating unit with field-adjustable "configuration" can be potentially implemented for realization of acceleration sensor systems with adaptive sensitivity.}, language = {en} } @misc{ChavezVegaBoehmScharffetal., author = {Chavez Vega, Jhohan Harvey and B{\"o}hm, Valter and Scharff, Moritz and Prem, Nina and Monkman, Gareth J. and Becker, Tatiana I. and G{\"u}nther, L. and Alencastre, Jorge H. and Grieseler, R. and Zimmermann, Klaus}, title = {Magneto-active elastomer as viscoelastic foundation material for artificial tactile sensors with tuneable properties}, series = {Book of Abstracts of the 16th German Ferrofluid Workshop, Braunschweig, 18.-20.07.2018}, journal = {Book of Abstracts of the 16th German Ferrofluid Workshop, Braunschweig, 18.-20.07.2018}, pages = {16 -- 17}, language = {en} } @article{SchaefferHerrmannSchratzenstalleretal., author = {Schaeffer, Leon and Herrmann, David and Schratzenstaller, Thomas and Dendorfer, Sebastian and B{\"o}hm, Valter}, title = {Theoretical considerations on stiffness characteristics of a 3-dimensional tensegrity joint model for the use in dynamic hand orthoses}, series = {Journal of Medical Robotics Research}, journal = {Journal of Medical Robotics Research}, publisher = {World Scientific}, doi = {10.1142/S2424905X25400069}, language = {en} } @inproceedings{HerrmannKunzeKobesetal., author = {Herrmann, David and Kunze, Julian and Kobes, Julian and Seelecke, Stefan and Motzki, Paul and Rizzello, Gianluca and B{\"o}hm, Valter}, title = {A mobile tensegrity robot driven by rolled dielectric elastomer actuators}, series = {2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), 22-26.April 2025, Lausanne}, booktitle = {2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), 22-26.April 2025, Lausanne}, publisher = {IEEE}, doi = {10.1109/RoboSoft63089.2025.11020974}, pages = {6}, abstract = {This paper presents a tensegrity-based mobile robot powered by dielectric elastomer actuators (DEAs), which provide high compliance and adaptability. The design consists of two V-shaped members linked by DEAs, enabling both symmetrical and asymmetrical actuation for varied movement patterns. Modal analysis and simulations show that uniform DEA actuation supports efficient linear motion, while asymmetrical actuation enables controlled circular paths. Experimental testing highlights the influence of voltage waveforms, frequencies, and surface types on speed, with optimal performance achieved using rectangular waveforms on low-friction surfaces. The robot reaches a top speed of 188 mm/s, among the highest reported for DEA-driven robots.}, language = {en} } @inproceedings{SchaefferSchmausserHerrmannetal., author = {Schaeffer, Leon and Schmaußer, Theresa and Herrmann, David and Lehmann, Lukas and Dendorfer, Sebastian and B{\"o}hm, Valter}, title = {Multi-Body Simulation of a Dynamic Hand Orthosis based on a Prestressed Compliant Structure Incorporating the Human Hand}, series = {2025 International Symposium on Medical Robotics (ISMR), May 14-16, 2025, Atlanta, GA, USA,}, booktitle = {2025 International Symposium on Medical Robotics (ISMR), May 14-16, 2025, Atlanta, GA, USA,}, publisher = {IEEE}, doi = {10.1109/ISMR67322.2025.11025982}, pages = {80 -- 86}, abstract = {Many dynamic hand orthoses use one degree of freedom joints, such as hinge joints. Therefore, these orthoses can only partially replicate the complex, multi-axis movement of the hand. A possible solution for this is the use of prestressed compliant structures as the basis for orthoses. Determining the joint forces in the wrist and optimizing the dynamic orthosis to influence these forces as well as acting muscle forces are important steps in the development of these orthoses. For this reason, in this work multi-body simulation models of an orthosis with human hand models are presented. Based on these theoretical investigations, more detailed orthosis models as well as initial prototypes of prestressed compliant dynamic hand orthoses can be developed.}, language = {en} } @misc{MerkerBoehmZentner, author = {Merker, Lukas and B{\"o}hm, Valter and Zentner, Lena}, title = {A tensegrity-based elastic joint element}, series = {IFToMM WC 2023 - The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, 5-10 November, Tokyo, Japan}, journal = {IFToMM WC 2023 - The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, 5-10 November, Tokyo, Japan}, language = {en} } @inproceedings{LehmannHerrmannSchaefferetal., author = {Lehmann, Lukas and Herrmann, David and Schaeffer, Leon and Albaik, Mohammed and M{\"u}ller, Emily and Rizzello, Gianluca and B{\"o}hm, Valter}, title = {Biomimetic Auxetic Compliant Tensegrity Metamaterial with Tunable Poisson's Ratio for the Application as a Soft Robotic Skin}, series = {2025 IEEE International Conference on Cyborg and Bionic Systems (CBS), Beijing, China ;10/17/2025 - 10/19/2025}, booktitle = {2025 IEEE International Conference on Cyborg and Bionic Systems (CBS), Beijing, China ;10/17/2025 - 10/19/2025}, publisher = {IEEE}, isbn = {979-8-3315-9742-9}, doi = {10.1109/CBS65871.2025.11267590}, pages = {188 -- 193}, abstract = {The use of compliant tensegrity grids offers significant potential for adaptive and lightweight systems for applications in soft robotics. This paper presents foundational investigations into a new class of auxetic tensegrity metamaterials. This work demonstrates that the auxetic behavior of a tensegrity grid can be realized and tuned solely through the mechanical properties of tensioned members, without altering the equilibrium geometry, offering a key advantage over conventional auxetic structures with fixed topologies. To validate the concept, 3D-printed demonstrators are manufactured, tested and a possible application as a cylindrically shaped soft robotic skin is shown.}, language = {en} } @inproceedings{SchaefferLiebrechtSchmausseretal., author = {Schaeffer, Leon and Liebrecht, Melanie and Schmaußer, Theresa and Herrmann, David and Lehmann, Lukas and B{\"o}hm, Valter}, title = {Finite element analysis of a tensegrity joint model for the use in dynamic hand orthoses}, series = {2025 9th International Conference on Biomedical Engineering and Applications (ICBEA), Seoul, Republic of Korea, February 27 - March 2, 2025}, booktitle = {2025 9th International Conference on Biomedical Engineering and Applications (ICBEA), Seoul, Republic of Korea, February 27 - March 2, 2025}, publisher = {IEEE}, isbn = {979-8-3315-3571-1}, doi = {10.1109/ICBEA66055.2025.00016}, pages = {41 -- 48}, abstract = {Many current dynamic hand orthoses use single degree of freedom joints, such as hinge joints. Consequently, these orthoses can only partially replicate the complex, multi-axis range of motion of the hand. To overcome this limitation, one approach is to use prestressed compliant structures as the basis for orthoses. In order to be able to map the dynamic influences on the orthosis as well as to simulate everyday use, this article provides an overview of this orthosis concept and the most important aspects in the development of such an orthosis including the results of the modal analysis. Based on these theoretical investigations, the presented methodological approach can be used to develop initial prototypes of tensegrity-based hand orthoses.}, language = {en} }