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 - 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 - 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 - 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 - 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 - 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 -