TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Lehmann, Lukas A1 - Böhm, Valter A1 - Rieffel, John T1 - Basic Investigations on a Compliant 2D Tensegrity Grid for the Use in Soft Robotic Applications T2 - 2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR), 23-26 June 2024, Chicago, IL, USA N2 - The use of compliant tensegrity grids in soft robotic applications is a promising research topic. By using these grids, systems with large shape and stiffness change ability can be realized. In this paper, different tensegrity grid variants, consisting of rigid members indirectly connected via compliant tensioned members, are presented. A selected grid variant is analyzed in more detail for shape adaptation. Therefore the use of the grid as end effector in form-fit grippers is selected as a specific application case. Covariance Matrix Adaptation Evolution Strategies are used to optimize actuators for two given shape function variants and an evaluation is carried out. Y1 - 2024 SN - 979-8-3503-9596-9 U6 - https://doi.org/10.1109/ReMAR61031.2024.10619926 SP - 652 EP - 657 PB - IEEE ER - TY - GEN A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Böhm, Valter ED - Flores, Paulo ED - Marques, Filipe ED - Da Rodrigues Silva, Mariana T1 - Theoretical considerations on 2D multistable tensegrity structures based on equilateral triangles T2 - MMT Symposium (Mechanism and Machine Theory Symposium): Book of Abstracts ; June 26-28, 2024. - Guimarães, Portugal Y1 - 2024 SN - 978-989-33-6448-2 IS - 1. edition SP - 403 EP - 404 PB - Departamento de Engenharia Mecânica, Universidade do Minho CY - Guimarães, Portugal ER - TY - CHAP A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Böhm, Valter T1 - Voruntersuchung einer vorgespannten nachgiebigen Struktur für den Einsatz in dynamischen Handorthesen T2 - 9. IFToMM D-A-CH Konferenz, 16./17. März 2023, Universität Basel N2 - In diesem Beitrag erfolgt die theoretische Untersuchung einer zweidimensionalen nachgiebigen Tensegrity-Struktur in Hinsicht auf ihre potenzielle Eignung als Basisstruktur für eine dynamische Handorthese. Translatorische und rotatorische relative Bewegungsmöglichkeiten zwischen den Drucksegmenten der Struktur sind möglich, da diese Segmente durch nachgiebige Zugsegmente miteinander verbunden sind. Die Form der Struktur und ihre Vorspannung in einer statisch stabilen Gleichgewichtskonfiguration werden mit Hilfe der Minimierung des Kräfte- und Momentenungleichgewichts, der Betrachtung der potentiellen Energie der Struktur und einem Ansatz mittels statischer Finite-Elemente-Methode (FEM) in Abhängigkeit der Segmentparameter untersucht. N2 - This paper presents a theoretical investigation of a two-dimensional compliant tensegrity structure with respect to its potential suitability as a base structure for a dynamic hand orthosis. Translational and rotational relative motion possibilities between the pressure segments of the structure are possible, as these segments are connected by compliant tension segments. The shape of the structure and its preload in a static stable equilibrium configuration are investigated using minimization of force and moment imbalance, consideration of the potential energy of the structure, and a static finite element method (FEM) approach as a function of segment parameters. T2 - Preliminary investigation of a prestressed compliant structure for use in dynamic hand orthoses Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:465-20230314-153711-8 PB - DuEPublico CY - Duisburg-Essen ER - TY - JOUR A1 - Schaeffer, Leon A1 - Herrmann, David A1 - Schratzenstaller, Thomas A1 - Dendorfer, Sebastian A1 - Böhm, Valter T1 - Preliminary theoretical considerations on the stiffness characteristics of a tensegrity joint for the use in dynamic orthoses JF - Journal of Medical Robotics Research N2 - Early motion therapy plays an important role for effective long-term healing of joint injuries. In many cases, conventional dynamic orthoses fail to address the intricate movement possibilities of the underlying joints, limited by their simplistic joint representations, often represented by revolute joints, enabling rotations by only one axis. In this paper, a two-dimensional compliant tensegrity joint for use in biomedical applications is investigated. It consists of two compressed members and five compliant tensioned members. Relative movement possibilities are realized by the intrinsic compliance of the structure. In the development of these systems, the first step is the determination of the static stable equilibrium. This analysis is conducted in this paper by considering the potential energy approach or by using the geometric nonlinear finite element method. The mechanical behavior of the structure is assessed with a specific emphasis on its mechanical compliance. The primary objective of this study is the investigation of the influence of structural parameters on the overall stiffness and movability of the structure. The results underscore the significant effect of member parameters on the stiffness and movability of the compliant tensegrity joint, particularly under varying load magnitudes. These findings provide insights for optimizing the joint’s performance, contributing to its potential application in advanced orthotic and exoskeleton devices. KW - mechanical compliance KW - flexibility ellipsis KW - form-finding KW - tensegrity joint Y1 - 2023 U6 - https://doi.org/10.1142/S2424905X23400081 PB - World Scientific 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 - 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 - 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 - 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 -