Design of a Movable Tensegrity Arm with Springs Modeling an Upper and Lower Arm

Tensegrity is a structure consisting of rigid bodies and internal tensile members, with no contact between the bodies. The model an arm tensegrity not movable as it is, but we believe that can be made flexible by incorporating springs. We developed incorporates springs in arm’s members extending structure. Then, evaluation arm, measured ranges motions forces required for motion. also mechanism allows to bend extend. this method making controllable will useful development robotic arms caregiving using robots other applications.