TY - CHAP A1 - Schorr, Philipp A1 - Böhm, Valter A1 - Zentner, Lena A1 - Zimmermann, Klaus T1 - Dynamical Investigation of Crawling Motion System based on a Multistable Tensegrity Structure T2 - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics : Porto, Portugal, 29.07.2018 - 31.07.2018 N2 - The basic idea of this article is the utilization of the multistable character of a compliant tensegrity structure to control the direction of motion of a crawling motion system. A crawling motion system basing on a two-dimensional tensegrity structure with multiple stable equilibrium states is considered. This system is in contact with a horizontal plane due to gravity. For a selected harmonic actuation of the system small oscillations around the given equilibrium state of the tensegrity structure occur and the corresponding uniaxial motion of the system is evaluated. A change of the equilibrium state of the tensegrity structure yields to novel configuration of the entire system. Moreover, the motion behavior of the novel configuration is totally different although the actuation strategy is not varied. In particular, the direction of motion changes. Therefore, this approach enables a uniaxial bidirectional crawling motion with a controllable direction of motion using only one actuat or with a selected excitation frequency. Y1 - 2018 SN - 978-989-758-321-6 U6 - https://doi.org/10.5220/0006852701220130 SP - 122 EP - 130 PB - SCITEPRESS ER - TY - CHAP A1 - Böhm, Valter A1 - Schorr, Philipp A1 - Schale, Florian A1 - Kaufhold, Tobias A1 - Zentner, Lena A1 - Zimmermann, Klaus T1 - Worm-Like Mobile Robot Based on a Tensegrity Structure T2 - 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft): 2.04.2021 - 16.04.2021, New Haven, CT, USA N2 - This work presents a novel concept to develop mobile robots enabling crawling locomotion in tubular environment. Chain-like systems are designed by serial cascading a uniform tensegrity module. Inspired by the movement of worms in nature, an undulating shape change of the system is targeted to generate locomotion. The shape changeability of an exemplary tensegrity module due to internal actuation is examined in simulations and experiments. A prototype consisting of these tensegrity modules is manufactured and the locomotion principle is verified in experiments. Comparing to existing prototypes this approach enables an enhanced compliance due to the modular assembly of tensegrity structures. KW - Mobile robots KW - motion control Y1 - 2021 SN - 978-1-7281-7713-7 U6 - https://doi.org/10.1109/robosoft51838.2021.9479193 SP - 358 EP - 363 PB - IEEE ER - TY - JOUR A1 - Schorr, Philipp A1 - Böhm, Valter A1 - Zentner, Lena A1 - Zimmermann, Klaus T1 - Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states JF - Journal of Sound and Vibration N2 - A novel type of a vibration driven motion system based on a compliant tensegrity structure with multiple stable equilibrium states is considered. These equilibrium configurations correspond to different prestress states with different dynamical properties. Therefore, the motion characteristics can be varied by changing the equilibrium state. For the application in the fields of mobile robotics, these discrete adjustable dynamics are advantageous. The vibration modes of the structure as well as the corresponding motion characteristics of the system can be adapted to the given environmental conditions in order to ensure a reliable motion. In this paper, dynamical investigations of an exemplary two-dimensional multistable tensegrity structure are considered. For the chosen parameter values the structure features two relevant equilibrium configurations. The resulting motion system is in contact to a horizontal plane due to gravity and the actuation is realized by the harmonic variation of the length of a single tensioned member. The motion of the system is simulated for various actuation frequencies with the different equilibrium states as an initial configuration. A uniaxial or a planar movement occurs depending on the selection of the actuated member within the tensegrity structure. The steady state motion is evaluated regarding motion characteristics like the steady state velocity. Moreover, the influences on the motion behavior caused by the different equilibrium states as an initial condition are emphasized. (C) 2018 Elsevier Ltd. All rights reserved. KW - Compliant tensegrity structure KW - LOCOMOTION KW - Multistability KW - Vibration driven motion Y1 - 2018 U6 - https://doi.org/10.1016/j.jsv.2018.09.019 VL - 437 IS - December SP - 198 EP - 208 PB - Elsevier ER - TY - CHAP A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Böhm, Valter T1 - Concept of a wrist Hand Orthosis based on a prestressed compliant structure T2 - Proceedings of the 7th International Conference on Biomedical Engineering and Applications (ICBEA), Hangzhou, China, 21-23 April 2023 N2 - In the treatment of hand injuries in the context of orthopedic care, movable wrist hand orthoses are used in numerous instances. Early motion therapy is in most cases advantageous for adequate, rapid and successful long-term healing of the hand. Conventional dynamic wrist hand orthoses can only be used for movement therapy to a limited extent since they represent the wrist as a simple rotating joint and neglect the complexity of the hand movement possibilities. In this paper, a preliminary concept for dynamic wrist hand orthoses based on prestressed compliant structures is presented. The distinctive feature of this concept lies in the enabling of multiaxial motion capabilities of the human hand without applying conventional joints. According to the concept the wrist region is surrounded by a prestressed compliant structure. Besides the derivation and description of the concept, a first three-dimensional computer-aided design is shown. Additionally, the necessary steps in the development of such a novel dynamic wrist orthosis are discussed. Y1 - 2023 U6 - https://doi.org/10.1109/ICBEA58866.2023.00024 SP - 98 EP - 103 PB - IEEE ER - TY - CHAP A1 - Schorr, Philipp A1 - Ebnet, Markus A1 - Zimmermann, Klaus A1 - Böhm, Valter ED - Awrejcewicz, Jan T1 - Dynamic Investigation of a Rolling Locomotion System Based on a Tensegrity Structure with Spatially Curved Compressed Members T2 - Perspectives in Dynamical Systems I Applications : DSTA Łódź Poland December 6 - 9 2021. - (Springer Proceedings in Mathematics & Statistics ; Bd. 453) N2 - In this paper a compliant tensegrity structure based on spatially curved compressed members is presented. Due to an internal variation of the prestress state the shape of the structure can be controlled. In particular, a modification of a cylindrical outer shape to a conical form is achieved. Regarding to the applications in mobile robotics this approach enables a steerable two-dimensional rolling locomotion system. Beside the consideration of the underlying non-holonomic constraints a simplified mechanical model an the corresponding equations of motion are derived for a predefined actuation principle. Various numerical simulations are evaluated focusing on the corresponding locomotion behavior. Based on these results a reliable actuation strategy to navigate in two dimensions is proposed. KW - Tensegrity KW - Mobile robotics KW - Non-holonomic Constraints Y1 - 2024 SN - 978-3-031-56491-8 U6 - https://doi.org/10.1007/978-3-031-56492-5_32 SP - 437 EP - 449 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Lehmann, Lukas A1 - Busch, Tobias A1 - Böhm, Valter ED - Rosati, Giulio ED - Gasparetto, Alessandro ED - Ceccarelli, Marco T1 - Preliminary Theoretical Considerations on 2D Multistable Tensegrity Structures Based on Equilateral Triangles T2 - New trends in mechanism and machine science: Proceedings of EuCoMeS 2024 Y1 - 2024 SN - 978-3-031-67294-1 U6 - https://doi.org/10.1007/978-3-031-67295-8_21 SP - 183 EP - 191 PB - Springer CY - Cham ER - TY - JOUR A1 - Chavez Vega, Jhohan Harvey A1 - Böhm, Valter A1 - Becker, Tatiana I. A1 - Gast, Simon A1 - Zeidis, Igor A1 - Zimmermann, Klaus T1 - Actuators based on a controlled particle-matrix interaction in magnetic hybrid materials for applications in locomotion and manipulation systems JF - Physical Sciences Reviews N2 - The paper deals with the investigation of magneto-sensitive elastomers (MSE) and their application in technical actuator systems. MSE consist of an elastic matrix containing suspended magnetically soft and/or hard particles. Additionally, they can also contain silicone oil, graphite particles, thermoplastic components, etc., in various concentrations in order to tune specific properties such as viscosity, conductivity and thermoelasticity, respectively. The focuses of investigations are the beneficial properties of MSE in prototypes for locomotion and manipulation purposes that possess an integrated sensor function. The research follows the principle of a model-based design, i.e. the working steps are ideation, mathematical modelling, material characterization as well as building first functional models (prototypes). The developed apedal (without legs) and non-wheeled locomotion systems use the interplay between material deformations and the mechanical motion in connection with the issues of control and stability. Non-linear friction phenomena lead to a monotonous forward motion of the systems. The aim of this study is the design of such mechanical structures, which reduce the control costs. The investigations deal with the movement and control of ‘intelligent’ mechanisms, for which the magnetically field-controlled particle-matrix interactions provide an appropriate approach. The presented grippers enclose partially gripped objects, which is an advantage for handling sensitive objects. Form-fit grippers with adaptable contour at the contact area enable a uniform pressure distribution on the surface of gripped objects. Furthermore, with the possibility of active shape adaptation, objects with significantly differing geometries can be gripped. To realise the desired active shape adaptation, the effect of field-induced plasticity of MSE is used. The first developed prototypes mainly confirm the functional principles as such without direct application. For this, besides the ability of locomotion and manipulation itself, further technological possibilities have to be added to the systems. The first steps are therefore being taken towards integrated MSE based adaptive sensor systems. KW - apedal locomotion systems KW - field-controlled particle-matrix interaction KW - field-induced plasticity KW - form-fit gripper KW - integrated sensor-actuator systems KW - magneto-sensitive elastomer Y1 - 2020 U6 - https://doi.org/10.1515/psr-2019-0087 VL - 7 IS - 11 SP - 1263 EP - 1290 PB - de Gruyter ER - TY - JOUR A1 - Chavez Vega, Jhohan Harvey A1 - Schorr, Philipp A1 - Kaufhold, Tobias A1 - Zentner, Lena A1 - Zimmermann, Klaus A1 - Böhm, Valter T1 - Influence of Elastomeric Tensioned Members on the Characteristics of Compliant Tensegrity Structures in Soft Robotic Applications JF - Procedia Manufacturing N2 - The use of mechanically prestressed compliant structures in soft robotics is a recently discussed topic. Tensegrity structures, consisting of a set of rigid disconnected compressed members connected to a continuous net of prestressed elastic tensioned members build one specific class of these structures. Robots based on these structures have manifold shape changing abilities and can adapt their mechanical properties reversibly by changing of their prestress state according to specific tasks. In the paper selected aspects on the potential use of elastomer materials in these structures are discussed with the help of theoretical analysis. Therefore, a selected basic tensegrity structure with elastomer members is investigated focusing on the stiffness and shape changing ability in dependence of the nonlinear hyperelastic behavior of the used elastomer materials. The considered structure is compared with a conventional tensegrity structure with linear elastic tensioned members. Finally, selected criterions for the advantageous use of elastomer materials in compliant tensegrity robots are discussed. KW - compliant tensegrity structures KW - soft robotics KW - elastomers Y1 - 2020 U6 - https://doi.org/10.1016/j.promfg.2020.11.048 SN - 2351-9789 VL - 52 SP - 289 EP - 294 PB - Elsevier ER - TY - JOUR A1 - Schorr, Philipp A1 - Chavez Vega, Jhohan Harvey A1 - Zentner, Lena A1 - Böhm, Valter T1 - Reconfiguration of planar quadrilateral linkages utilizing the tensegrity principle JF - Mechanism and machine theory N2 - The development of reconfigurable planar four-bar linkages by applying the tensegrity principle is considered. Conventional quadrilateral linkages enable two operation modes differing in the kinematic behavior. However, a change between these states is not possible due to the geometric constraints. To enable a reconfiguration between the different modes one-sided limited nonholonomic constraints are introduced in this work. This issue is realized by applying ropes that cannot resist compression. However, to guarantee an appropriate load case in operation a prestress within the mechanism is required. Hence, the linkage is extended to a tensegrity-based mechanism. The structural dynamics are derived using the LAGRANGE formalism and the structural behavior is evaluated using numerical simulations. Furthermore, a prototype of an exemplary tensegrity-based mechanism is manufactured and experiments regarding the mechanical properties, in particular the reconfiguration, are performed. The results suggest the potential benefit of applying the tensegrity principle within conventional planar four-bar linkages. KW - CONFIGURATION SYNTHESIS KW - MECHANISMS KW - Multibody dynamics KW - Planar four-bar linkage KW - Reconfiguration KW - Tensegrity-based mechanism Y1 - 2021 U6 - https://doi.org/10.1016/j.mechmachtheory.2020.104172 IS - 156 PB - Elsevier ER - TY - JOUR A1 - Chavez Vega, Jhohan Harvey A1 - Ziolkowski, Marek A1 - Schorr, Philipp A1 - Spiess, Lothar A1 - Böhm, Valter A1 - Zimmermann, Klaus T1 - A method to approach constant isotropic permeabilities and demagnetization factors of magneto-rheological elastomers JF - Journal of Magnetism and Magnetic Materials N2 - The use of non-conventional materials is nowadays of much interest in scientific community. Magneto-rheological elastomers are hybrid materials, which in presence of magnetic fields state a change in their mechanical properties. They are composed by an elastomeric matrix with embedded magnetic particles. One of the most attractive features of these materials is that as soon as the magnetic field is removed from the material, the original mechanical properties are completely recovered, with negligible differences in comparison to the original state. This paper focuses on the study of magnetic characteristics of these smart materials, such as relative permeability and demagnetizing factors, for samples with different volume concentration of ferromagnetic particles. KW - Demagnetization factor KW - Finite element simulations KW - Magneto-rheological elastomer KW - Relative permeability KW - Static magnetic field Y1 - 2021 U6 - https://doi.org/10.1016/j.jmmm.2021.167742 VL - 527 PB - Elsevier ER - TY - CHAP A1 - Böhm, Valter A1 - Schorr, Philipp A1 - Feldmeier, T. A1 - Chavez Vega, Jhohan Harvey A1 - Henning, S. A1 - Zimmermann, Klaus A1 - Zentner, Lena T1 - An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures T2 - New Trends in Mechanism and Machine Science: 8th European Conference on Mechanism Science (EuCoMeS), 2020 N2 - In this paper compliant multistable tensegrity structures with discrete variable stiffness are investigated. The different stiffness states result from the different prestress states of these structures corresponding to the equilibrium configurations. Three planar tensegrity mechanisms with two stable equilibrium configurations are considered exemplarily. The overall stiffness of these structures is characterized by investigations with regard to their geometric nonlinear static behavior. Dynamical analyses show the possibility of the change between the equilibrium configurations and enable the derivation of suitable actuation strategies. KW - Compliant tensegrity structure KW - Multiple states of self-equilibrium KW - Variable stiffness Y1 - 2020 U6 - https://doi.org/10.1007/978-3-030-55061-5_53 SP - 470 EP - 478 PB - Springer ER - TY - GEN A1 - Chavez Vega, Jhohan Harvey A1 - Henning, S. A1 - Zentner, Lena A1 - Böhm, Valter T1 - Soft tensegrity structures with variable stiffness and shape changing ability T2 - Annual Meeting of the DFG Priority Programme Soft Material Robotic Systems, SPP2100, 02-04. März 2020, Schneverdingen Y1 - 2020 ER - TY - JOUR A1 - Becker, Tatiana I. A1 - Böhm, Valter A1 - Chavez Vega, Jhohan Harvey A1 - Odenbach, Stefan A1 - Raikher, Yuriy L. A1 - Zimmermann, Klaus T1 - Magnetic-field-controlled mechanical behavior of magneto-sensitive elastomers in applications for actuator and sensor systems JF - Archive of Applied Mechanics N2 - The development of actuator and sensor systems with complex adaptive behavior and operating sensitivity is one of the actual scientific challenges. Smart materials like magneto-sensitive elastomers (MSEs) offer great potential for designing such intelligent devices, because they possess unique magnetic-field-dependent properties. The present paper deals with investigations of the free and forced vibrational behavior displayed by cantilever beams of MSEs containing magnetically soft particles in a uniform magnetic field. It is shown experimentally as well as theoretically that the first bending eigenfrequency of MSE beams depends strongly on the strength of an applied magnetic field. The proposed magneto-mechanical model is based on the vibrational dynamics of thin rods and predicts reliably the amplitude–frequency characteristics depending on the geometric configuration of the MSE and its material parameters. It is found that the vibration response of an MSE beam under kinematic excitation of its base can be modified indirectly by a magnetic field control due to the change of the vibration characteristics. As a result, the resonance can occur in different ranges of the excitation frequency. The dependencies of the amplification ratio on the excitation frequency are obtained experimentally and compared with the result provided by the theoretical model. Moreover, investigations on the potential use of the field-induced plasticity effect of MSEs in form-fit gripper applications are presented. This effect can be used to realize shape adaptable system parts. It is found that the mechanical properties of each component and its concentration within the mixture have an impact on the mechanical behavior of the whole MSE compound. Such parameters as the strength of magnetic field and geometry of the MSE sample have influence on the quality of shape adaptation. The evidence presented provides a good basis for the realization of MSE-based actuator and sensor systems with adaptable sensitivity. Y1 - 2019 U6 - https://doi.org/10.1007/s00419-018-1477-4 VL - 89 IS - 1 SP - 133 EP - 152 PB - Springer Nature ER - TY - JOUR A1 - Prem, Nina A1 - Chavez Vega, Jhohan Harvey A1 - Böhm, Valter A1 - Sindersberger, Dirk A1 - Monkman, Gareth J. A1 - Zimmermann, Klaus T1 - Properties of Polydimethylsiloxane and Magnetoactive Polymers with Electroconductive Particles JF - Macromolecular Chemistry and Physics N2 - Magnetoactive polymers are intelligent materials whose mechanical and electrical characteristics are reversibly influenced by external magnetic stimuli. They consist of a highly elastic polymer matrix in which magnetically soft and/or hard particles are distributed by means of special fabrication processes. In addition to ferromagnetic particles such as carbonyl iron powder, electrically conductive particles may also be embedded into the polymer matrix. After characterizing a range of compounds, this work focuses on a comparison of the electrical properties and the suitability of various materials for applications, with particular emphasis on integration into 3D and 6D printing processes. 6D printing is based on the selective positioning of particles in a 3D polymer matrix with a further three degrees of freedom for a graduated dispersion of the particles at certain points and in desired directions. The aim is therefore to ensure that the polymers containing electroconductive tracks have the best possible electrical properties, that is, low resistivity but are still capable of being printed. A comparison between the traditionally used compounds containing graphite and carbon black is made for the first time. This latter is found to be greatly superior both in terms of electrical conductivity and applicability to 3D printing and 6D printing. KW - 3D printing KW - 6D printing KW - carbon black KW - composites KW - electroconductive particles KW - graphite KW - magnetoactive polymers KW - polydimethylsiloxane KW - STRAIN, *MRU Y1 - 2018 U6 - https://doi.org/10.1002/macp.201800222 VL - 219 IS - 18 PB - Wiley ER - TY - CHAP A1 - Chavez Vega, Jhohan Harvey A1 - Schorr, Philipp A1 - Scharff, Moritz A1 - Schale, Florian A1 - Böhm, Valter A1 - Zimmermann, Klaus T1 - Towards Magneto-Sensitive Elastomers Based End-Effectors for Gripping Application Technologies T2 - 2019 IEEE International Conference on Mechatronics (ICM), 18-20 March 2019, Ilmenau, Germany N2 - Nowadays, the demands in engineering systems become more challenging and the use of conventional materials for certain applications is not suitable. This issue encourages the investigation of novel and innovative materials in soft robotics field. A promising approach is the consideration of magneto-sensitive elastomers (MSE). These materials enable a useful adaptability responding to their mechanical properties. By applying a static magnetic field, the static and dynamic characteristics can be tuned. However, currently the knowledge about the correlations are not satisfying and the resulting material properties can only be predicted approximately with the use of time-expensive simulations regarding to the nano scale. Therefore, feasible material simulations of the description of the mechanical behavior are necessary. In this paper experimental studies of the influence of a static magnetic field on the mechanical properties and shape adaptability of MSE are presented. Furthermore, based on these results a simulation for the material behavior is executed. These results can be implemented into further simulations for various MSE exemplars. KW - End effectors KW - field-induced plasticity KW - finite-element simulation KW - Iron KW - Magnetomechanical effects KW - magneto-sensitive elastomer KW - Oils KW - SHAPE KW - Soft magnetic materials KW - soft robotics KW - Static magnetic field Y1 - 2019 U6 - https://doi.org/10.1109/ICMECH.2019.8722922 VL - 1 SP - 217 EP - 222 PB - IEEE ER - TY - CHAP A1 - Schorr, Philipp A1 - Chavez Vega, Jhohan Harvey A1 - Zentner, Lena A1 - Böhm, Valter ED - Zentner, Lena ED - Strehle, Steffen T1 - Reconfigurable Planar Quadrilateral Linkages Based on the Tensegrity Principle T2 - Microactuators, Microsensors and Micromechanisms, MAMM, 2020 N2 - A feasible possibility to develop planar reconfigurable mechanisms is introduced in this work. Applying the tensegrity principle to common four-bar linkages allows a controllable change between two configurations of the mechanism. These two states correspond to different working spaces which vary regarding to the kinematic and mechanical properties. Therefore, the reconfiguration of the mechanism enables two different operation modes. Hence, this kind of mechanism enables the advantageous properties of conventional linkages with an additional enhanced adaptability of the kinematic and mechanic behavior. Beside the conceptual design of such tensegrity-based mechanisms, a reconfigurable four-bar parallel linkage is considered exemplarily. Numerical simulations are evaluated focusing on the kinematic behavior and the structural mechanics of this mechanism. Especially the reconfiguration of the mechanism by changing between two different working spaces is considered. The simulation results clarify the benefit of utilizing the tensegrity principle in mechanism theory. Adding only a few members to the original linkage enables a reconfigurable mechanism with comparable complexity. KW - Planar four-bar linkage KW - Reconfigurable mechanisms KW - tensegrity Y1 - 2021 SN - 978-3-030-61651-9 U6 - https://doi.org/10.1007/978-3-030-61652-6_5 SP - 48 EP - 57 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Chavez Vega, Jhohan Harvey A1 - Böhm, Valter A1 - Becker, Tatiana I. A1 - Gast, Simon A1 - Zeidis, Igor A1 - Zimmermann, Klaus ED - Odenbach, Stefan T1 - Actuators based on a controlled particlematrix interaction in magnetic hybrid materials for applications in locomotion and manipulation systems T2 - Magnetic Hybrid-Materials: Multi-scale modelling synthesis and applications N2 - The paper deals with the investigation of magneto-sensitive elastomers(MSE) and their application in technical actuator systems. MSE consist of an elasticmatrix containing suspended magnetically soft and/or hard particles. Additionally,they can also contain silicone oil, graphite particles, thermoplastic components, etc.,in various concentrations in order to tune specific properties such as viscosity, con-ductivity and thermoelasticity, respectively. The focuses of investigations are thebeneficial properties of MSE in prototypes for locomotion and manipulation purposesthat possess an integrated sensor function. The research follows the principle of amodel-based design, i.e. the working steps are ideation, mathematical modelling,material characterization as well as building first functional models (prototypes). Thedeveloped apedal (without legs) and non-wheeled locomotion systems use the inter-play between material deformations and the mechanical motion in connection with theissues of control and stability. Non-linear friction phenomena lead to a monotonousforward motion of the systems. The aim of this study is the design of such mechanicalstructures, which reduce the control costs. The investigations deal with the movementand control of‘intelligent’mechanisms, for which the magnetically field-controlledparticle-matrix interactions provide an appropriate approach. The presented grippersenclose partially gripped objects, which is an advantage for handling sensitive objects.Form-fit grippers with adaptable contour at the contact area enable a uniform pressuredistribution on the surface of gripped objects. Furthermore, with the possibility ofactive shape adaptation, objects with significantly differing geometries can be gripped.To realise the desired active shape adaptation, the effect of field-induced plasticity ofMSE is used. The first developed prototypes mainly confirm the functional principles assuch without direct application. For this, besides the ability of locomotion andmanipulation itself, further technological possibilities have to be added to the systems. KW - apedal locomotion systems KW - field-controlled particle-matrix interaction KW - field-induced plasticity KW - form-fit gripper KW - integrated sensor-actuator systems KW - magneto-sensitive elastomer Y1 - 2021 SN - 9783110569636 U6 - https://doi.org/10.1515/9783110569636-027 N1 - Zuerst erschienen in: Physical Sciences Reviews, 2020, pp. 20190087 SP - 653 EP - 680 PB - De Gruyter CY - Berlin ER - TY - CHAP A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Böhm, Valter T1 - Preliminary theoretical considerations of a hand orthosis based on a prestressed, compliant structure T2 - Proceedings of the 2023 International Symposium on Medical Robotics (ISMR), Atlanta, 19-21 April 2023 N2 - In the treatment of hand injuries in the context of orthopedic care, movable hand orthoses are used in many cases. Early motion therapy is in most cases advantageous for adequate, rapid, and successful long-term healing of the hand. Conventional mobile hand orthoses can only be used for movement therapy to a limited extent since they represent the wrist as a simple rotating joint and neglect the complexity of the movement possibilities of the hand. In this paper, a novel concept for movable hand orthoses based on prestressed compliant structures is presented. The advantage with this concept is that it replicates the multiaxial motion capabilities without the need for conventional joints. Besides the derivation and description of the concept, a first three-dimensional CAD design is shown. Additionally, the next planned steps in the development of such a novel dynamic hand orthosis are described. Y1 - 2023 U6 - https://doi.org/10.1109/ISMR57123.2023.10130230 SP - 1 EP - 7 PB - IEEE ER - TY - CHAP A1 - Kouakouo, S. A1 - Böhm, Valter A1 - Zimmermann, Klaus T1 - Analyses of apedal locomotion systems based on ferroelastomers T2 - Proceedings I of the 28st Conference STUDENT EEICT 2022: General papers N2 - In this paper, the movement behavior of amoeboid locomotion system is investigated and the theoretical proof of the locomotion of the system is provided with the finite element method. It is shown that not only the speed of locomotion but also its direction can be influenced by the drive frequency. Depending on the drive frequency, a movement from the home position and a subsequent movement in opposite directions can be achieved. In addition, high speeds of movement can be achieved in a limited frequency range. KW - Technical Mechanics KW - Legless Locomotion System KW - Amoeboid Robot Y1 - 2023 UR - http://www.nusl.cz/ntk/nusl-524810 SN - 978-80-214-6029-4 SP - 447 EP - 451 PB - Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií ER - TY - CHAP A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Böhm, Valter T1 - Theoretical considerations on a 2D compliant tensegrity joint in context of a biomedical application T2 - Engineering for a changing world : 60th ISC, Ilmenau Scientific Colloquium, Technische Universität Ilmenau, September 4-8, 2023 N2 - In this paper, a two-dimensional compliant tensegrity joint was investigated for potential biomedical applications such as orthotics or exoskeletons. The structure consists of two compressed members connected by five compliant tensioned members. The concept is based on the tensegrity principle, which allows the realization of dynamic orthoses without conventional hinge joints. Another advantage is the adaptability to the individual needs of the patient through a suitable design of the structure and the careful selection of the characteristics of the elements. Using geometric nonlinear analysis, the mechanical behavior of the structure was investigated, focusing on mechanical compliance. The main objective was to determine the influence of the initial length and stiffness of the tensioned members and the influence of the magnitude of external forces on the overall stiffness of the movable member of the structure. The results highlight the significant impact of member parameters on the structure's stiffness and movability under varying load magnitudes. The research laid the foundation for future development of dynamic orthoses based on this structure. Y1 - 2023 U6 - https://doi.org/10.22032/dbt.58879 SP - 1 EP - 15 PB - Technische Universität Ilmenau CY - Ilmenau ER - TY - JOUR A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Schmausser, Theresa A1 - Liebrecht, Melanie A1 - Rambach, Felix A1 - Böhm, Valter T1 - Theoretische Untersuchungen zu einer neuartigen Handorthese : [Kurzfassung des Tagungsbeitrags] JF - 10. IFToMM D-A-CH Konferenz 2024: 05./06. März 2024, Universität Rostock. Y1 - 2024 UR - https://nbn-resolving.org/urn:nbn:de:hbz:465-20240304-122226-3 U6 - https://doi.org/10.17185/duepublico/81586 ER - TY - CHAP A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Böhm, Valter T1 - Preliminary considerations on the form-finding of a tensegrity joint to be used in dynamic orthoses T2 - 8th International Conference on Biomedical Engineering and Applications (ICBEA 2024), Tokio, 18-21. March 2024 Y1 - 2024 PB - ACM ET - accepted paper ER - TY - CHAP A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Böhm, Valter T1 - Theoretical Investigations on a Dynamic Hand Orthosis Based on a Prestressed Compliant Structure with Respect to Stiffness and Wrist-Forces T2 - 2024 International Symposium on Medical Robotics (ISMR), 03-05 June 2024, Atlanta, GA, USA N2 - Many currently available dynamic hand orthoses use articulated connections that have one degree of freedom, such as hinge joints. These orthoses are therefore only able to replicate the multiaxial range of motion of the human hand to a limited extent. A possible solution for replecating the multiaxial movements of the hand is the use of pre-stressed compliant structures as a basis for the orthoses. After a brief description of this concept, the two main first steps by the development, the so called form-finding and the wrist-joint force characterization by hand movements are explained with theoretical analysis based on the static Finite Element Method. The influence of the orthosis parameters, global stiffness and geometric dimensions as well as the influence of the wrist-joint position relative to the orthosis are discussed. Finally, the next planned development steps towards to the first prototype are outlined. KW - Wrist KW - Medical robotics KW - Shape KW - Force KW - Dynamics KW - Prototypes KW - Fasteners Y1 - 2024 U6 - https://doi.org/10.1109/ISMR63436.2024.10585860 SN - 2771-9049 PB - IEEE ER - TY - JOUR A1 - Schümann, Malte A1 - Morich, J. A1 - Kaufhold, Tobias A1 - Böhm, Valter A1 - Zimmermann, Klaus A1 - Odenbach, Stefan T1 - A mechanical characterisation on multiple timescales of electroconductive magnetorheological elastomers JF - Magnetism and Magnetic Materials N2 - Magnetorheological elastomers are a type of smart hybrid material which combines elastic properties of a soft elastomer matrix with magnetic properties of magnetic micro particles. This leads to a material with magnetically controllable mechanical properties of which the magnetorheological effect is the best known. The addition of electroconductive particles to the polymer mix adds electrical properties to the material behaviour. The resulting electrical resistance of the sample can be manipulated by external magnetic fields and mechanical loads. This results in a distinct interplay of mechanical, electrical and magnetic effects with a highly complex time behaviour. In this paper a mechanical characterisation on multiple time scales was conducted to get an insight on the short and long-term electrical and mechanical behaviour of this novel material. The results show a complex resistivity behaviour on several timescales, sensitive to magnetic fields and strain velocity. The observed material exhibits fatigue and relaxation behaviour, whereas the magnetorheological effect appears not to interfere with the piezoresistive properties. Y1 - 2018 U6 - https://doi.org/10.1016/j.jmmm.2018.01.029 VL - 453 IS - May SP - 198 EP - 205 PB - Elsevier ER - TY - JOUR A1 - Zimmermann, Klaus A1 - Böhm, Valter A1 - Becker T.I., A1 - Chavez Vega, Jhohan Harvey A1 - Kaufhold, Tobias A1 - Monkman, Gareth J. A1 - Sindersberger, Dirk A1 - Diermeier, Andreas A1 - Prem, Nina T1 - Mechanical Characterization of the Field-Dependent Properties of Magnetoactive Polymers and Integrated Electrets for their Application in Soft Robotics JF - International Scientific Journal "Problems of Mechanics" Y1 - 2017 SN - 1512-0740 VL - 69 IS - 4 ER - TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Zentner, Lena A1 - Böhm, Valter T1 - Theoretische und experimentelle Voruntersuchungen von Manipulatoren auf Basis von nachgiebigen Tensegrity-Strukturen T2 - 9. IFToMM D-A-CH Konferenz, 16./17. März 2023, Universität Basel N2 - In this paper, two compliant tensegrity manipulators are presented and contrasted with respect to their mechanical pro- perties and deformation capability. They differ in their topology, in the way they are actuated and also in their mechanical compliance. The mechanical compliance of the first system is based on the elasticity of the tensioned segments, while the compressed segments are rigid. The second system is based on elementary units, which are themselves spatial tensegrity structures. In this system, both the tension and compressed segments are compliant. Actuation of the first system occurs by changing the length of the tensile segments. In the second system, the change in shape of the overall system is realized by changing the shape of the compliant compressed segments N2 - Um die Leistungsfähigkeit von nachgiebigen Robotersystemen („Soft Robotics“) zu verbessern, werden immer neue Möglichkeiten zur Realisierung dieser Systeme gesucht. In vielen Anwendungen ist der Einsatz von mechanisch vorgespannten nachgiebigen Strukturen in diesen Systemen von Vorteil. Die Steifigkeit dieser Strukturen kann gezielt und gegebenenfalls reversibel variabel eingestellt werden. Die Formveränderung kann nur durch wenige Aktuatoren erzeugt werden. Nachgiebige Tensegrity-Strukturen, die auf hochelastischen Materialien basieren, entsprechen einer speziellen Klasse von mechanisch vorgespannten Strukturen. Sie werden durch druck- und zugbelastete Segmente gebildet, wobei die druckbelasteten Segmente untereinander nicht direkt verbunden sind. Die resultierende Form dieser Strukturen wird durch ihre Vorspannung bestimmt. Weiche Roboter, die auf diesen Strukturen basieren, bieten mehrere vorteilhafte Eigenschaften, wie z. B. Faltbarkeit/Entfaltbarkeit, geringe Masse, hohes Festigkeits-Gewichts-Verhältnis und stoßdämpfende Fähigkeiten [1]. Diese Strukturen haben eine ausgeprägte Fähigkeit, sowohl ihre Form als auch ihre Steifigkeit zu verändern. In den letzten Jahren hat das Interesse an der Erforschung von Robotersystemen, die auf diesen Strukturen basieren, zugenommen. Aktuelle Arbeiten konzentrieren sich auf die Entwicklung von mobilen Robotern [2]–[7] und Manipulatoren, die auf diesen Strukturen basieren [8]–[10]. Tensegrity-Manipulatoren werden typischerweise durch Kaskadierung von gleichartigen elementaren Einheiten gebildet, die nach dem Tensegrity-Prinzip untereinander verbunden werden. Die elementaren Einheiten sind entweder selber konventionelle Tensegrity-Strukturen oder einteilige planare bzw. räumliche Strukturen. In klassischen Tensegrity-Manipulatoren werden starre Drucksegmente und nicht elastische Zugsegmente verwendet. Die Formänderung dieser Systeme wird durch Änderung der Längen ausgewählter Zugsegmente realisiert. Dem gegenübergestellt können nachgiebige Tensegrity-Manipulatoren realisiert werden, indem die Zugsegmente der Struktur eine hohe Nachgiebigkeit aufweisen. Um die mechanische Nachgiebigkeit und Formänderungsfähigkeit von diesen nachgiebigen Manipulatoren zusätzlich zu erhöhen, ist auch der Einsatz von Tensegrity-Strukturen auf der Basis nachgiebiger Drucksegmente denkbar. Im vorliegenden Beitrag werden zwei nachgiebige Tensegrity-Manipulatoren vorgestellt und in Hinblick auf ihre mechanischen Eigenschaften und Formänderungsfähigkeit gegenübergestellt. Sie unterscheiden sich in ihrer Topologie, in der Art der Aktuierung und auch in der mechanischen Nachgiebigkeit. Die mechanische Nachgiebigkeit des ersten Systems beruht auf der Elastizität der Zugsegmente, die Drucksegmente sind starr. Die elementaren Einheiten bilden einteilige Strukturen. Das zweite System beruht auf elementaren Einheiten, die selbst räumliche Tensegrity-Strukturen sind. In diesem System sind sowohl die Zug- als auch die Drucksegmente nachgiebig. Die Aktuierung des ersten Systems erfolgt durch Längenänderung der Zugsegmente. Im zweiten System wird die Formänderung des Gesamtsystems durch Änderung der Form der nachgiebigen Drucksegmente realisiert. Die theoretischen Untersuchungen erfolgen unter Anwendung der statischen geometrisch nichtlinearen FE-Methode. Mit diesen Untersuchungen wird die Formveränderungsfähigkeit der beiden Systeme unter Variation ihrer Vorspannung untersucht und gegenübergestellt. Die experimentellen Untersuchungen an zwei Demonstratoren bestätigen die theoretischen Ergebnisse und zeigen die Anwendbarkeit von Systemen auf Basis dieser Strukturen als Manipulatoren auf. T2 - Preliminary theoretical and experimental investigations on manipulators based on compliant tensegrity structures Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:465-20230314-164736-8 PB - DuEPublico CY - Duisburg-Essen ER - TY - JOUR A1 - Zimmermann, Klaus A1 - Chavez Vega, Jhohan Harvey A1 - Becker, Tatiana I. A1 - Witte, Hartmut A1 - Schilling, Cornelius A1 - Köhring, Sebastian A1 - Böhm, Valter A1 - Monkman, Gareth J. A1 - Prem, Nina A1 - Sindersberger, Dirk A1 - Lutz, I. I. A1 - Merker, Lukas T1 - An approach to a form-adaptive compliant gripper element based on magneto-sensitive elastomers with a bioinspired sensorized surface JF - Problems of Mechanics Y1 - 2019 SN - 1512-0740 VL - 75 IS - 2 SP - 23 EP - 38 PB - Georgian Technical University CY - Tbilisi ER - TY - JOUR A1 - Jahn, Hannes A1 - Böhm, Valter A1 - Zentner, Lena T1 - Analysis of deformation in tensegrity structures with curved compressed members JF - Meccanica N2 - AbstractTensegrity structures are prestressed structures consisting of compressed members connected by prestressed tensioned members. Due to their properties, such as flexibility and lightness, mobile robots based on these structures are an attractive subject of research and are suitable for space applications. In this work, a mobile robot based on a tensegrity structure with two curved members connected by eight tensioned strings is analyzed in terms of deformation in the curved members. Further, the difference in locomotion trajectory between the undeformed and deformed structure after the prestress is analyzed. For that, the theory of large deflections of rod-like structures is used. To determine the relationship between acting forces and the deformation, the structure is optimized using minimization algorithms in Python. The results are validated by parameter studies in FEM. The analysis shows that the distance between the two curved members significantly influences the structure’s locomotion. It can be said that the deformation of the components significantly influences the locomotion of tensegrity structures and should be considered when analyzing highly compliant structures. KW - Rolling locomotion KW - Mobile robot KW - Tensegrity structures KW - Deformation of compressedmembers KW - Finite element simulations Y1 - 2024 U6 - https://doi.org/10.1007/s11012-024-01833-y SN - 0025-6455 PB - Springer Nature ER - TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Schmitt, Lukas A1 - Körber, Wolfgang A1 - Merker, Lukas A1 - Zentner, Lena A1 - Böhm, Valter T1 - Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members T2 - 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA. April 14-17, 2024 N2 - The use of intrinsically compliant tensegrity structures in manipulation systems is an attractive research topic. In this paper a 3D compliant robotic arm based on a stacked tensegrity structure consisting of x-shaped rigid members is considered. The rigid members are interconnected by a net of prestressed, tensioned members with pronounced intrinsic elasticity and by inelastic tensioned members. The system's motion is achieved by length-change of the inelastic tensioned members. The operating principle of the system is discussed with the help of kinematic considerations and verified by experiments. KW - Geometry KW - Three-dimensional displays KW - Shape KW - Prototypes KW - Kinematics KW - Soft robotics KW - Manipulators Y1 - 2024 U6 - https://doi.org/10.1109/RoboSoft60065.2024.10521941 SP - 1047 PB - IEEE ER - TY - GEN A1 - Rieffel, John A1 - Herrmann, David A1 - Lehmann, Lukas A1 - Schaeffer, Leon A1 - Böhm, Valter ED - Flores, Paulo ED - Marques, Filipe ED - Da Rodrigues Silva, Mariana T1 - Illuminating the morphological diversity of 2D tensegrity grids T2 - MMT Symposium (Mechanism and Machine Theory Symposium): Book of Abstracts ; June 26-28, 2024. - Guimarães, Portugal Y1 - 2024 UR - https://mmtsymposium.com/wp-content/uploads/2024/07/mmtsymposium_bookofabstracts.pdf SN - 978-989-33-6448-2 IS - 1. edition SP - 457 EP - 458 PB - Departamento de Engenharia Mecânica, Universidade do Minho CY - Guimarães, Portugal ER - TY - CHAP A1 - Merker, Lukas A1 - Böhm, Valter A1 - Zentner, Lena T1 - Modellbildung und Steifigkeitsanalyse eines nachgiebigen Tensegrity-ähnlichen Koppelelements T2 - 15. Kolloquium Getriebetechnik, 2023, Aachen Y1 - 2023 SP - 63 EP - 66 PB - Verlag Mainz CY - Aachen ER - TY - GEN A1 - Chavez Vega, Jhohan Harvey A1 - Böhm, Valter A1 - Yin, J. A1 - Becker, Tatiana I. A1 - Köhring, Sebastian A1 - Monkman, Gareth J. A1 - Odenbach, Stefan A1 - Zimmermann, Klaus T1 - Field induced plasticity of magneto-sensitive elastomers for gripping technology applications T2 - 6th Colloquium of SPP 1681, Benediktbeuern, 26. - 28.09.2018 : Book of Abstracts Y1 - 2018 SP - 16 EP - 17 ER - TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Zentner, Lena A1 - Böhm, Valter T1 - Theoretical considerations on 3D tensegrity joints for the use in manipulation systems T2 - Engineering for a changing world : 60th ISC, Ilmenau Scientific Colloquium, Technische Universität Ilmenau, September 4-8, 2023 N2 - 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. Y1 - 2023 U6 - https://doi.org/10.22032/dbt.58888 SP - 1 EP - 13 PB - Technische Universität Ilmenau CY - Ilmenau ER - TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Merker, Lukas A1 - Zentner, Lena A1 - Böhm, Valter ED - Nguyen, Duc-Nam ED - Tran, Ngoc Dang Khoa ED - van Huynh, Tuan ED - Ono, Takahito ED - van Nguyen, Hieu ED - Pandey, Ashok Kumar T1 - An Approach to the Realization of Multistable Tensegrity Structures with Deformable Compressed Members T2 - Microactuators, Microsensors and Micromechanisms : MAMM 2024. N2 - 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. Y1 - 2025 SN - 978-3-031-83356-4 U6 - https://doi.org/10.1007/978-3-031-83357-1_34 SP - 343 EP - 350 PB - Springer Nature CY - Cham ER - TY - GEN A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Schmitt, Lukas A1 - Körber, Wolfgang A1 - Merker, Lukas A1 - Zentner, Lena A1 - Böhm, Valter T1 - Design, Erprobung und Vergleich von zwei Manipulatoren auf Basis von nachgiebigen Tensegrity-Strukturen T2 - 10. IFToMM D-A-CH Konferenz 2024: 05./06. März 2024, Universität Rostock N2 - Kurzfassung des Tagungsbeitrags. T2 - Design, test and comparison of two manipulators based on compliant tensegrity-structures Y1 - 2024 UR - https://nbn-resolving.org/urn:nbn:de:hbz:465-20240304-095947-9 U6 - https://doi.org/10.17185/duepublico/81587 ER - TY - JOUR A1 - Becker, Tatiana I. A1 - Böhm, Valter A1 - Schale, Florian A1 - Zimmermann, Klaus T1 - Vibrating sensor unit made of a magnetoactive elastomer with field-adjustable characteristics JF - Journal of Magnetism and Magnetic Materials N2 - 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. Y1 - 2020 U6 - https://doi.org/10.1016/j.jmmm.2019.166196 VL - 498 IS - March PB - Elsevier ER - TY - GEN A1 - Chavez Vega, Jhohan Harvey A1 - Böhm, Valter A1 - Scharff, Moritz A1 - Prem, Nina A1 - Monkman, Gareth J. A1 - Becker, Tatiana I. A1 - Günther, L. A1 - Alencastre, Jorge H. A1 - Grieseler, R. A1 - Zimmermann, Klaus T1 - Magneto-active elastomer as viscoelastic foundation material for artificial tactile sensors with tuneable properties T2 - Book of Abstracts of the 16th German Ferrofluid Workshop, Braunschweig, 18.-20.07.2018 Y1 - 2018 SP - 16 EP - 17 ER - TY - JOUR A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Schratzenstaller, Thomas A1 - Dendorfer, Sebastian A1 - Böhm, Valter T1 - Theoretical considerations on stiffness characteristics of a 3-dimensional tensegrity joint model for the use in dynamic hand orthoses JF - Journal of Medical Robotics Research Y1 - 2025 U6 - https://doi.org/10.1142/S2424905X25400069 PB - World Scientific ER - TY - CHAP A1 - Herrmann, David A1 - Kunze, Julian A1 - Kobes, Julian A1 - Seelecke, Stefan A1 - Motzki, Paul A1 - Rizzello, Gianluca A1 - Böhm, Valter T1 - A mobile tensegrity robot driven by rolled dielectric elastomer actuators T2 - 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), 22-26.April 2025, Lausanne N2 - 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. KW - Vibrations KW - Surface waves KW - Modal analysis KW - Resonant frequency KW - Soft robotics KW - Mobile robots KW - Rubber KW - Transient analysis KW - Dielectric elastomer actuators KW - Testing Y1 - 2025 U6 - https://doi.org/10.1109/RoboSoft63089.2025.11020974 PB - IEEE ER - TY - CHAP A1 - Schaeffer, Leon A1 - Schmaußer, Theresa A1 - Herrmann, David A1 - Lehmann, Lukas A1 - Dendorfer, Sebastian A1 - Böhm, Valter T1 - Multi-Body Simulation of a Dynamic Hand Orthosis based on a Prestressed Compliant Structure Incorporating the Human Hand T2 - 2025 International Symposium on Medical Robotics (ISMR), May 14-16, 2025, Atlanta, GA, USA, N2 - 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. KW - Hands KW - Wrist KW - Systematics KW - Simulation KW - Dynamics KW - Refining KW - Prototypes KW - Usability KW - Research and development KW - Testing Y1 - 2025 U6 - https://doi.org/10.1109/ISMR67322.2025.11025982 SP - 80 EP - 86 PB - IEEE ER - TY - GEN A1 - Merker, Lukas A1 - Böhm, Valter A1 - Zentner, Lena T1 - A tensegrity-based elastic joint element T2 - IFToMM WC 2023 - The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, 5-10 November, Tokyo, Japan Y1 - 2023 ER - TY - CHAP A1 - Lehmann, Lukas A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Albaik, Mohammed A1 - Müller, Emily A1 - Rizzello, Gianluca A1 - Böhm, Valter T1 - Biomimetic Auxetic Compliant Tensegrity Metamaterial with Tunable Poisson's Ratio for the Application as a Soft Robotic Skin T2 - 2025 IEEE International Conference on Cyborg and Bionic Systems (CBS), Beijing, China ;10/17/2025 - 10/19/2025 N2 - 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. Y1 - 2025 SN - 979-8-3315-9742-9 U6 - https://doi.org/10.1109/CBS65871.2025.11267590 SP - 188 EP - 193 PB - IEEE ER - TY - CHAP A1 - Schaeffer, Leon A1 - Liebrecht, Melanie A1 - Schmaußer, Theresa A1 - Herrmann, David A1 - Lehmann, Lukas A1 - Böhm, Valter T1 - Finite element analysis of a tensegrity joint model for the use in dynamic hand orthoses T2 - 2025 9th International Conference on Biomedical Engineering and Applications (ICBEA), Seoul, Republic of Korea, February 27 - March 2, 2025 N2 - 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. KW - Hand orthosis KW - Modal Analysis KW - Tensegrity Joint Y1 - 2025 UR - https://ieeexplore.ieee.org/document/11018707 SN - 979-8-3315-3571-1 U6 - https://doi.org/10.1109/ICBEA66055.2025.00016 SP - 41 EP - 48 PB - IEEE ER -