Variable-stiffness tensegrity spine
Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, unlike their natural counterparts, current...
Saved in:
| Published in | Smart materials and structures Vol. 29; no. 7; pp. 75013 - 75022 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
IOP Publishing
01.07.2020
|
| Subjects | |
| Online Access | Get full text |
Cover
Loading…
| Abstract | Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, unlike their natural counterparts, current robotic spine systems do not display robustness or cannot adjust their stiffness according to their task. In this paper, we describe a novel variable-stiffness tensegrity spine, which uses an active mechanism to add or remove a ball-joint constrain among the vertebrae, allowing transition among different stiffness modes: soft mode, global stiff mode, and directional stiff mode. We validate the variable-stiffness properties of the tensegrity spine in experimental bending tests and compare results to a model. Finally, we demonstrate the tensegrity spine system as a continuous variable-stiffness manipulator and highlight its advantages over current systems. |
|---|---|
| AbstractList | Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, unlike their natural counterparts, current robotic spine systems do not display robustness or cannot adjust their stiffness according to their task. In this paper, we describe a novel variable-stiffness tensegrity spine, which uses an active mechanism to add or remove a ball-joint constrain among the vertebrae, allowing transition among different stiffness modes: soft mode, global stiff mode, and directional stiff mode. We validate the variable-stiffness properties of the tensegrity spine in experimental bending tests and compare results to a model. Finally, we demonstrate the tensegrity spine system as a continuous variable-stiffness manipulator and highlight its advantages over current systems. |
| Author | Ajanic, Enrico Zappetti, Davide Arandes, Roc Floreano, Dario |
| Author_xml | – sequence: 1 givenname: Davide orcidid: 0000-0002-7733-8865 surname: Zappetti fullname: Zappetti, Davide email: davide.zappetti@epfl.ch organization: Ecole Polytechnique Fédérale de Lausanne Laboratory of Intelligent Systems, School of Engineering, 1015 Lausanne, Switzerland – sequence: 2 givenname: Roc surname: Arandes fullname: Arandes, Roc email: roc.arandes@epfl.ch organization: Ecole Polytechnique Fédérale de Lausanne Laboratory of Intelligent Systems, School of Engineering, 1015 Lausanne, Switzerland – sequence: 3 givenname: Enrico surname: Ajanic fullname: Ajanic, Enrico organization: Ecole Polytechnique Fédérale de Lausanne Laboratory of Intelligent Systems, School of Engineering, 1015 Lausanne, Switzerland – sequence: 4 givenname: Dario surname: Floreano fullname: Floreano, Dario organization: Ecole Polytechnique Fédérale de Lausanne Laboratory of Intelligent Systems, School of Engineering, 1015 Lausanne, Switzerland |
| BookMark | eNp9j0tLAzEUhYNUsK3uXRZcuHHsvZPHZJZSfEHBjYq7kCYZSZlmhiQu-u_tMOJCpKsDh_Md-GZkErrgCLlEuEWQcolUYCEE_1jqjawcnJDpbzUhU6gFK7AqxRmZpbQFQJQUp-TqXUevN60rUvZNE1xKi-xCcp_R5_0i9T64c3La6Da5i5-ck7eH-9fVU7F-eXxe3a0Lw0rIBXdoaieE5IjWMlOaGkorjWUaZEWZRA1CClFWmlrO0VJtheHItGEULNI5gfHXxC6l6BrVR7_Tca8Q1CCpBiM1GKlR8oCIP4jxWWffhRy1b4-BNyPou15tu68YDmbH5tf_zNMuqbJWlYKKA1LV24Z-A2tucy8 |
| CODEN | SMSTER |
| CitedBy_id | crossref_primary_10_1126_scirobotics_adg7165 crossref_primary_10_3390_biomimetics9010019 crossref_primary_10_1109_LRA_2025_3537866 crossref_primary_10_1115_1_4064254 crossref_primary_10_1016_j_ijmecsci_2025_109951 crossref_primary_10_1115_1_4067922 crossref_primary_10_1108_EC_10_2022_0642 crossref_primary_10_1016_j_engstruct_2022_114618 crossref_primary_10_1109_TRO_2025_3543292 crossref_primary_10_1039_D4MH00584H crossref_primary_10_1002_aisy_202200025 crossref_primary_10_1016_j_compstruc_2023_107204 crossref_primary_10_1016_j_mechmachtheory_2023_105498 crossref_primary_10_1088_1361_665X_ad0753 crossref_primary_10_1089_soro_2022_0025 crossref_primary_10_1002_adem_202400497 crossref_primary_10_1088_1361_665X_ada2cc crossref_primary_10_1109_LRA_2024_3469811 crossref_primary_10_1109_TIE_2022_3229371 crossref_primary_10_1088_1748_3190_aca197 crossref_primary_10_1109_LRA_2022_3191523 crossref_primary_10_1016_j_compstruct_2024_118331 crossref_primary_10_1109_LRA_2023_3265301 crossref_primary_10_1016_j_mechmachtheory_2022_104870 crossref_primary_10_1115_1_4056959 crossref_primary_10_1002_aisy_202300079 crossref_primary_10_1115_1_4051722 crossref_primary_10_1089_soro_2020_0170 crossref_primary_10_1016_j_compstruc_2025_107695 crossref_primary_10_1089_soro_2020_0209 crossref_primary_10_1109_TMRB_2023_3321628 crossref_primary_10_1002_advs_202411351 crossref_primary_10_1016_j_ijimpeng_2024_105208 |
| Cites_doi | 10.1142/S0219519402000472 10.1097/01.wnq.0000152406.39871.8e 10.1109/TRO.2013.2287975 10.1038/s42256-018-0009-9 10.1109/MRA.2016.2582718 10.1098/rsif.2014.0520 10.1016/j.eml.2018.05.003 10.1109/IROS.2012.6385696 10.1109/ROBOSOFT.2019.8722822 10.1109/ROBIO.2014.7090299 10.1089/soro.2015.0012 10.5402/2013/726506 10.1016/j.mechmachtheory.2013.06.005 10.1109/ICRA.2016.7487187 10.1088/1748-3190/aa7ccd 10.5402/2013/890609 10.1016/j.ijsolstr.2009.04.026 10.1115/DETC2017-68264 10.1109/IROS.2015.7354134 10.1097/00007632-199109000-00015 10.1002/adma.201704407 10.1115/DETC2015-47583 |
| ContentType | Journal Article |
| Copyright | 2020 IOP Publishing Ltd |
| Copyright_xml | – notice: 2020 IOP Publishing Ltd |
| DBID | AAYXX CITATION |
| DOI | 10.1088/1361-665X/ab87e0 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | CrossRef |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering Physics |
| DocumentTitleAlternate | Variable-stiffness tensegrity spine |
| EISSN | 1361-665X |
| ExternalDocumentID | 10_1088_1361_665X_ab87e0 smsab87e0 |
| GrantInformation_xml | – fundername: Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung grantid: Bridge project 20B2-1_180861 funderid: http://dx.doi.org/10.13039/501100001711 |
| GroupedDBID | -~X 123 1JI 4.4 5B3 5PX 5VS 5ZH 7.M 7.Q AAGCD AAJIO AAJKP AATNI ABHWH ABJNI ABQJV ABVAM ACAFW ACGFS ACHIP AEFHF AENEX AFYNE AKPSB ALMA_UNASSIGNED_HOLDINGS AOAED ASPBG ATQHT AVWKF AZFZN CBCFC CEBXE CJUJL CRLBU CS3 DU5 EBS EDWGO EMSAF EPQRW EQZZN HAK IHE IJHAN IOP IZVLO KOT LAP M45 N5L N9A P2P PJBAE R4D RIN RNS RO9 ROL RPA SY9 TN5 W28 XPP ZMT AAYXX ADEQX CITATION |
| ID | FETCH-LOGICAL-c420t-5e1c9e668511dd4c2c902d8cd4a0873481a0686627a3d551d3ad6c514ac430d13 |
| IEDL.DBID | IOP |
| ISSN | 0964-1726 |
| IngestDate | Thu Apr 24 23:09:28 EDT 2025 Tue Jul 01 03:38:44 EDT 2025 Thu Jan 07 15:20:59 EST 2021 Wed Aug 21 03:34:29 EDT 2024 |
| IsDoiOpenAccess | false |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 7 |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c420t-5e1c9e668511dd4c2c902d8cd4a0873481a0686627a3d551d3ad6c514ac430d13 |
| Notes | SMS-109525.R1 |
| ORCID | 0000-0002-7733-8865 |
| OpenAccessLink | https://infoscience.epfl.ch/record/276939/files/Variable-stiffness%20tensegrity%20spine.pdf |
| PageCount | 10 |
| ParticipantIDs | crossref_primary_10_1088_1361_665X_ab87e0 crossref_citationtrail_10_1088_1361_665X_ab87e0 iop_journals_10_1088_1361_665X_ab87e0 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2020-07-01 |
| PublicationDateYYYYMMDD | 2020-07-01 |
| PublicationDate_xml | – month: 07 year: 2020 text: 2020-07-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationTitle | Smart materials and structures |
| PublicationTitleAbbrev | SMS |
| PublicationTitleAlternate | Smart Mater. Struct |
| PublicationYear | 2020 |
| Publisher | IOP Publishing |
| Publisher_xml | – name: IOP Publishing |
| References | Caluwaerts (smsab87e0bib26) 2014; 11 Furet (smsab87e0bib17) 2019 Chen (smsab87e0bib20) 2017 Mirletz (smsab87e0bib22); 2015 Coyle (smsab87e0bib8) 2018; 22 Sabelhaus (smsab87e0bib15) 2015; 5A Park (smsab87e0bib11) 2013; vol 8103 Walker (smsab87e0bib13) 2013; 2013 Lessard (smsab87e0bib24) 2016 Mirvakili (smsab87e0bib30) 2018; 30 (smsab87e0bib27) 2017 Manti (smsab87e0bib2) 2016; 23 De Falco (smsab87e0bib6) 2017; 12 Oliveira (smsab87e0bib18) 2009 (smsab87e0bib23) 2013 Levin (smsab87e0bib5) 2002; 02 Coyle (smsab87e0bib1) 2018; 1 Yeo (smsab87e0bib12) 2013; 69 Potvin (smsab87e0bib4) 1991; 16 Zappetti (smsab87e0bib19) 2017 Georgilas (smsab87e0bib9) 2013; 2013 Kowalski (smsab87e0bib3) 2005; 15 Kim (smsab87e0bib10) 2014; 30 Kim (smsab87e0bib25) 2014 Jiang (smsab87e0bib7) 2012 Sabelhaus (smsab87e0bib14) 2018 Mirletz (smsab87e0bib16) 2015; 2 Howard (smsab87e0bib29) 2019; 1 Moored (smsab87e0bib21) 2009; 46 Morzadec (smsab87e0bib28) 2019 |
| References_xml | – volume: 02 start-page: 375 year: 2002 ident: smsab87e0bib5 article-title: The tensegrity-truss as a model for spine mechanics: biotensegrity publication-title: J. Mech. Med. Biol. doi: 10.1142/S0219519402000472 – year: 2019 ident: smsab87e0bib17 article-title: Prototype of a tensegrity manipulator to mimic bird necks – volume: 15 start-page: 42 year: 2005 ident: smsab87e0bib3 doi: 10.1097/01.wnq.0000152406.39871.8e – volume: 30 start-page: 382 year: 2014 ident: smsab87e0bib10 article-title: A stiffness-adjustable hyperredundant manipulator using a variable neutral-line mechanism for minimally invasive surgery publication-title: IEEE Trans. Rob. doi: 10.1109/TRO.2013.2287975 – volume: 1 start-page: 12 year: 2019 ident: smsab87e0bib29 article-title: Evolving embodied intelligence from materials to machines publication-title: Nat. Mach. Intell. doi: 10.1038/s42256-018-0009-9 – volume: 23 start-page: 93 year: 2016 ident: smsab87e0bib2 article-title: Stiffening in soft robotics: a review of the state of the art publication-title: IEEE Robot. Autom. Mag. doi: 10.1109/MRA.2016.2582718 – volume: 11 year: 2014 ident: smsab87e0bib26 article-title: Design and control of compliant tensegrity robots through simulation and hardware validation publication-title: J. R. Soc. Interface doi: 10.1098/rsif.2014.0520 – volume: 1 start-page: 51 year: 2018 ident: smsab87e0bib1 article-title: Bio-inspired soft robotics: material selection, actuation, and design publication-title: Extreme Mech. Lett. doi: 10.1016/j.eml.2018.05.003 – start-page: 2922 year: 2012 ident: smsab87e0bib7 article-title: Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling doi: 10.1109/IROS.2012.6385696 – start-page: 521 year: 2019 ident: smsab87e0bib28 article-title: Toward shape optimization of soft robots doi: 10.1109/ROBOSOFT.2019.8722822 – start-page: 7 year: 2014 ident: smsab87e0bib25 article-title: Rapid prototyping design and control of tensegrity soft robot for locomotion doi: 10.1109/ROBIO.2014.7090299 – year: 2018 ident: smsab87e0bib14 article-title: Design, simulation, and testing of a flexible actuated spine for quadruped robots – volume: 2 start-page: 165 year: 2015 ident: smsab87e0bib16 article-title: Goal-directed CPG-based control for tensegrity spines with many degrees of freedom traversing irregular terrain publication-title: Soft Robot. doi: 10.1089/soro.2015.0012 – year: 2013 ident: smsab87e0bib23 – volume: 2013 year: 2013 ident: smsab87e0bib13 article-title: Continuous backbone “Continuum” robot manipulators: a review publication-title: Int. Scholarly Res. Not. doi: 10.5402/2013/726506 – volume: 69 start-page: 230 year: 2013 ident: smsab87e0bib12 article-title: Design and analysis of cable-driven manipulators with variable stiffness publication-title: Mech. Mach. Theory doi: 10.1016/j.mechmachtheory.2013.06.005 – start-page: 630 year: 2016 ident: smsab87e0bib24 article-title: A lightweight, multi-axis compliant tensegrity joint doi: 10.1109/ICRA.2016.7487187 – volume: 12 year: 2017 ident: smsab87e0bib6 article-title: A soft multi-module manipulator with variable stiffness for minimally invasive surgery publication-title: Bioinspir. Biomim. doi: 10.1088/1748-3190/aa7ccd – volume: 2013 year: 2013 ident: smsab87e0bib9 article-title: From the human spine to hyperredundant robots: the ERMIS mechanism publication-title: Int. Scholarly Res. Not. doi: 10.5402/2013/890609 – volume: 46 start-page: 3272 year: 2009 ident: smsab87e0bib21 article-title: Investigation of clustered actuation in tensegrity structures publication-title: Int. J. Solids Struct. doi: 10.1016/j.ijsolstr.2009.04.026 – start-page: 497 year: 2017 ident: smsab87e0bib19 – year: 2017 ident: smsab87e0bib27 – year: 2017 ident: smsab87e0bib20 article-title: Modular elastic lattice platform for rapid prototyping of tensegrity robots doi: 10.1115/DETC2017-68264 – volume: 2015 start-page: 5357 ident: smsab87e0bib22 article-title: Towards bridging the reality gap between tensegrity simulation and robotic hardware doi: 10.1109/IROS.2015.7354134 – volume: 16 start-page: 1099 year: 1991 ident: smsab87e0bib4 article-title: Trunk muscle and lumbar ligament contributions to dynamic lifts with varying degrees of trunk flexion publication-title: Spine doi: 10.1097/00007632-199109000-00015 – volume: vol 8103 start-page: 302 year: 2013 ident: smsab87e0bib11 – volume: 30 year: 2018 ident: smsab87e0bib30 article-title: Artificial muscles: mechanisms, applications, and challenges publication-title: Adv. Mater. doi: 10.1002/adma.201704407 – volume: 22 start-page: 51 year: 2018 ident: smsab87e0bib8 article-title: Bio-inspired soft robotics: material selection, actuation, and design publication-title: Extreme Mech. Lett. doi: 10.1016/j.eml.2018.05.003 – volume: 5A start-page: p V05AT08A059 year: 2015 ident: smsab87e0bib15 article-title: Mechanism design and simulation of the ULTRA spine: a tensegrity robot doi: 10.1115/DETC2015-47583 – year: 2009 ident: smsab87e0bib18 |
| SSID | ssj0011831 |
| Score | 2.5529757 |
| Snippet | Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or... |
| SourceID | crossref iop |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 75013 |
| SubjectTerms | adaptive structures artificial spine continuous manipulator soft robotics tensegrity variable-stiffness |
| Title | Variable-stiffness tensegrity spine |
| URI | https://iopscience.iop.org/article/10.1088/1361-665X/ab87e0 |
| Volume | 29 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1LSwMxEB5qRdCDj6pYXyyoBw9pdzfZbIInEUsRfBys9CCEbJL1oLaLu7346012t6UVEfG2h0k2DMnMN8zMNwCnTDqiMJ4iQ1OFSBr7KAm5RrG03kaaiBPlGoVv72h_QG6G0bABF7NemHFWm_6O_ayIgisV1gVxrBtgGiBKo2FXJiw2Nl5fxsw6Tte9d_8wSyHYu1qOy-OUIOulpznKn3ZY8ElL9r9zLqa3Ac_Tw1WVJa-dSZF01Oc33sZ_nn4T1mvo6V1WolvQMKMWrM0RErZgpSwIVfk2nDzZINq1VSFrA9LUGUTPFbubFzftzsszu2gHBr3rx6s-qgcqIEVCv0CRCRQ3lDqUpTVRoeJ-WI4vkj5zNDeBdB0jNIwl1hZKaSw1VRZSSUWwrwO8C83ReGT2wFMBV6lMMFeYEhMSmXDGY2yIZljpKG5Dd6pSoWq2cTf04k2UWW_GhFOEcIoQlSLacD5bkVVMG7_Inln9ivq55b_IeQty-XsuQi5i4YBSgEWm0_0_bnUAq6ELtctK3UNoFh8Tc2TxSJEcl_fuCzkY1jg |
| linkProvider | IOP Publishing |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V3NTtwwEB7BVkVwaAsUAW1pJODAwbuJ7TjxgQMqXfFfDoD2Zhzb6YFlWZFdIXgpXoVHYpxkV4AQ6oVDbznYljNjz3zJzHwDsJZqTxQmc-JEbgjPk5BkVFqSaPQ22sWSG18ofHgkdk75XifuTMD9uBbmql-b_iY-VkTBlQjrhLi0FTERESHiTktnaeLCVt_mdVblvru9wW-2YnN3GxW8Tmn798mvHVK3FSCG03BAYhcZ6YTwWMNabqiRIS2b-Ogw9WQvkfZ1E4ImmlkEFJZpKwwCC204C23EcN1J-BAz9NW-YvDP8ThsgfejbNEnBSeIDEZx0dd2_cwPTuK7PnFr7c_wMBJIlc1y0RwOsqa5e8EV-R9J7At8qiF2sFVtbxYmXG8OZp4QL87BxzLx1RTzsHqm8QpmXUfQ1uW5N_yBT-p3f31Xv6Do46SvcPou-12ARu-q5xYhMJE0uc6YNExwR7nOZCoT5rhNmbFxsgStkRqVqVnVfXOPriqj-2mqvPCVF76qhL8EG-MZ_YpR5I2x66hTVZuV4o1xwbNxxWWhqFSJ8oAwYgr1vfyPS_2EqePttjrYPdr_BtPU_10ok5O_Q2NwPXQ_EIINspXy2Adw_t6n5hGtLjOU |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Variable-stiffness+tensegrity+spine&rft.jtitle=Smart+materials+and+structures&rft.au=Zappetti%2C+Davide&rft.au=Arandes%2C+Roc&rft.au=Ajanic%2C+Enrico&rft.au=Floreano%2C+Dario&rft.date=2020-07-01&rft.pub=IOP+Publishing&rft.issn=0964-1726&rft.eissn=1361-665X&rft.volume=29&rft.issue=7&rft_id=info:doi/10.1088%2F1361-665X%2Fab87e0&rft.externalDocID=smsab87e0 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0964-1726&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0964-1726&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0964-1726&client=summon |