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 - 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 - 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 -