Science Robotics

Supplementary Materials

The PDF file includes:

  • Fig. S1. Structural advantages of tensegrity compared other conventional structures.
  • Fig. S2. Fabrication of tensegrity structure.
  • Fig. S3. Tensegrity structures composed of diverse materials in a wide range of scales.
  • Fig. S4. Variation of volume fraction according to the structural complexity.
  • Fig. S5. Example designs of tensegrity beam and comparison of their inner spaces according to types of transformation.
  • Fig. S6. Stress-strain curve of single tensegrity unit according to α.
  • Fig. S7. Mechanical properties of tensegrity beam according to the number of layers.
  • Fig. S8. Mechanical properties of tensegrity beam according to the number of layers with opposite rotation direction.
  • Fig. S9. Mechanical properties of tensegrity structures according to material.
  • Fig. S10. Magnetic deployment according to existence of strut.
  • Fig. S11. Mechanical properties of tensegrity structures according to topology.
  • Fig. S12. Membrane tensegrity with 2D tendons.
  • Fig. S13. Particle uptake by rolling-based locomotion.
  • Fig. S14. Flexibility control of linear tensegrity lattice composed of tetrahedral tensegrity units according to connectivity of tendons.
  • Fig. S15. Structural flexibility depending on the density of tensegrity unit.
  • Fig. S16. Diverse arrangements of tensegrity unit and transformation.
  • Fig. S17. Large-scale superlattice consisted of IBT units.
  • Fig. S18. Large-scale superlattice consisted of CBT units.
  • Fig. S19. Torsional compression of tensegrity structures with diverse morphologies.
  • Fig. S20. Different transformation structure in the square loop structure according to transformation direction.
  • Fig. S21. Body and circuit design of the starfish robot.
  • Fig. S22. Compression test setup.

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Other Supplementary Material for this manuscript includes the following:

  • Data file S1. Zipped folder containing stereolithography (STL) files of 3D-printed molds and struts for diverse tensegrity structures used in this work: AT, CBT, CT, HPBT, BTPBT, IBT, and SST.
  • Movie S1 (.mp4 format). Mechanical response of tensegrity composed of tendon and struts.
  • Movie S2 (.mp4 format). Transformation types of tensegrity beam according to design parameters.
  • Movie S3 (.mp4 format). Mechanical anisotropy and integrity of tensegrity.
  • Movie S4 (.mp4 format). Magnetic actuations of auxetic tensegrity.
  • Movie S5 (.mp4 format). Rolling-based locomotion of CBT and CT actuators for particle uptake.
  • Movie S6 (.mp4 format). Programmed mechanical property of large-scale superlattice composed of different tensegrity unit.
  • Movie S7 (.mp4 format). Starfish robot actuation composed of five tensegrity legs.
  • Movie S8 (.mp4 format). Overview of 3D-printed programmable tensegrity.

Files in this Data Supplement: