Form-Finding of Spine Inspired Biotensegrity Model

This paper presents a study on form-finding of four-stage class one self-equilibrated spine biotensegrity models. Advantageous features such as slenderness and natural curvature of the human spine, as well as the stabilizing network that consists of the spinal column and muscles, were modeled and incorporated in the mathematical formulation of the spine biotensegrity models. Form-finding analysis, which involved determination of independent self-equilibrium stress modes using generalized inverse and their linear combination, was carried out. Form-finding strategy for searching the self-equilibrated models was studied through two approaches: application of various combinations of (1) twist angles and (2) nodal coordinates. A total of three configurations of the spine biotensegrity models with different sizes of triangular cell were successfully established for the first time in this study. All members in the spine biotensegrity models satisfied the assumption of linear elastic material behavior. With the established spine biotensegrity model, the advantageous characteristics of flexibility and versatility of movement can be further studied for potential application in deployable structures and flexible arm in the robotic industry.