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 -