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 -