Tensegrity,

the definition
Feras Hakkak
PhD student
Biomedical Eng. Dept., AmirKabir University
Tehran, Iran
Sept. 2009
Overview
 Tensegrity
 History
 Definitions
 Properties
 Biotensegrity
 Philosophy
 Hierarchy
 Gross anatomy
 Research proposal
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Tensegrity

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Flat Out, 1979
stainless steel
16 x 20 x 11 inches http://www.kennethsnelson.net 4

40 x 51 x 28cm
60.5 Degrees, 1992
stainless steel
13 x 15.5 x 13 inches http://www.kennethsnelson.net 5

33 x 39.4 x 33cm
Octahelix, 1967
32 x 15 x 15 inches 6
81 x 38 x 38 cm http://www.kennethsnelson.net
Super Star, 1960-2002
aluminum & stainless steel
19 x 23 x 19.75 inches http://www.kennethsnelson.net 7

48 x 58.5 x 50cm
Study for Quadra Node, 1960-90
aluminum & stainless steel
7.25 x 17.75 x 17.75 inches http://www.kennethsnelson.net 8

18.4 x 45 x 45cm
QuinTetRow, 2002
aluminum and stainless steel
15.5 x 42 x 11 inches http://www.kennethsnelson.net 9

39.37 x 106.68 x 28cm

 Nice table with a tensegrity base from Koenig Associates, Inc.

Suspend Accent table - 17"

high to top of glass, glass top
21" diameter x 1/2" thick,
batons are 1/2" diameter solid
aluminum alloy with a clear
anodized finish, cable is 1/16"
diameter. List price is $525
http://www.koenigdesign.com
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History
 In 1949, Kenneth
Snelson, an art student,
made a sculpture …
 Buckminster Fuller, a genius geometer and
architect, developed the idea and coined the
term “tensegrity”, a contraction for
tensional integrity, in 1955

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Patents appeared
 David Georges Emmerich (1964) "Construction de
réseaux autotendants“ (autotendants means self-
stressing).
 Richard Buckminster Fuller (1962) “Tensile
Integrity”
 Kenneth Snelson (1965) "Continuous tension,
discontinuous compression structures“

Sadly, the debate is still there. “Who was the first”

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Definition of tensegrity

The idea is more or less being used in many fields,

and it has led to various viewpoints and
definitions. So, take care to know what an
author means by the word.

Rene Motro gives clear insight into the various definitions in his book
“Tensegrity, Structural Systems for the Future”

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 “Pure” tensegrity

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http://www.kennethsnelson.ne
 “Non-pure” tensegrities
Mostly those that have joints with more than
one compressive member. But there are no
moment transfer in the joints.
Some have membranes as tensile members,
some have air as compression members
(balloon), some have irregular-shaped
elements, etc.
Some may have no compressive members in
some joints, like the cobweb
Some are non-self-sufficient structures,
anchorage-dependent. Like the cobweb
hanging onto a tree
Etc. 15
See http://bobwb.tripod.com/synergetics/tensegrity/index.html
The main idea, for me
 The main idea is that it is a stable system consisting
of some elements that are always in tension and
some that are always in compression. It makes it
different from trusses.
 The next point is “continuous tension, discontinuous
compression” which is found in some of the
definitions. Not all.
 Next point is self-sufficiency, which is found in most
definitions
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Properties of tensegrity structures
 No bending moments in constructing elements
 The structure is integrated through tension
 Continuous tension, discontinuous compression
 Independence from gravity direction
 Low mass-to-strength ratio (non-pure tensegrities
might be better in this. The research is ongoing)
 Material is needed only in the essential load paths.
 Shape of the structure can be changed with little
control energy (refer to Skelton’s works)
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Properties of tensegrity structures
 Their shape can deform substantially without being
damaged

 They can be deployable structures

space structures, modern adaptive buildings, …

 Every member has an influence on the overall shape

 Classical structural design: A then B then C then …
 Tensegrity design: A and B and C and … (in a way)
 However they can be used modularly for building big
structures 18
Properties of tensegrity structures
 Possibility of the integration of Structure and
Control Disciplines
A given tensile or compressive member of a tensegrity
structure can serve multiple functions. It can simultaneously
be a load-carrying member of the structure, a sensor
(measuring tension or length), an actuator (such as nickel-
titanium wire), a thermal insulator, or an electrical conductor.

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Biotensegrity

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Our definition of biotensegrity?
 Snelson, Fuller, Motro, Skelton have given different
definitions of the word. So, we should clarify what
we mean by biotensegrity.
 This can be a big source of confusion and opposition
to the idea in the biomechanical circles.
 In our papers and discussions we should first define
our words. Very necessary in the initial phase of
research on this theory.

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Gross anatomy biotensegrity?
 The ideal mathematical tensegrity deals with rods
and cables, but in the nature we usually have other
forms and shapes. Ideally, no tensegrity is found in
the nature.
 So, we should understand what we mean by
applying the concept. It should be made clear what
is meant by “…. is tensegrity”
 Very unreasonable debates are seen among the
experts in the field, just due to lack of unified
terminology
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Gross anatomy (biotensegrity)
 Developed and spread by Dr. Stephen Levin
 The idea that Mother Nature has applied tensegrity at
the level of gross anatomy too
 Neither the bones, nor muscles or other tissues are
slender rods or wires, so how the concept of
tensegrity might apply at this level of hierarchy?

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The Non-contact issue
 If we accept Snelson’s definition of tensegrity, one of the
characteristics of classical tensegrity structures is that
compression members do not touch.
 If we can prove that in joints bone surfaces do not touch, or
even do not fully touch, tensegrity might be a good name for
the structure of the body.
 Biotensegrity suggests that not all of the joint’s compression
force is transmitted through the joint with the compression of
the articular surfaces on each other. Anything less that full
compression challenges the current biomechanics.

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Biotensegrity biomechanics
Claims:
 All the body tissues are effective in the structural integrity of the
body. The effect of remote organs should be considered in models.

 Stephen Levin, MD, suggests that bones do not press against

one another and they are floating in the soft tissues.
(Continuous tension discontinuous compression)

Really true? Both are debated.

The first is difficult to “prove” but the second can be
investigated more easily. Joint arthroscopy may shed light.
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Structural integrity
 Fascia as the connecting web
 Dr. Peter Huijing and colleagues have shown that
muscles are connected to each other and these
connections are not ignorable at all
 We see in simple dissection experiments on lamb
meet that all soft tissues are connected, softly or
tightly

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Load transfer in joints
 As an orthopedic surgeon, Levin has done in-vivo
experiments: “Axial loads were applied to joints in live
subjects under anesthesia during surgical intervention for a
variety of conditions. Joint studies included the knee, ankle,
elbow and metatarsal-phalangal joints. In our studies at no
time could the articular surfaces of these joints be forced into
contact with one another as long as the ligaments remained
intact.”

Source:
S.M. Levin, “Continuous Tension, Discontinuous Compression: A Model
for Biomechanical Support of the Body”, The Bulletin of Structural
Integration, Vol. 8, No. 1: Spring-Summer 1982.
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Knee Arthroscopy video

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Classical understanding
 Current biomechanics considers the body as a structure
consisting of a skeleton, on which muscles are added to
make motion and stability, nerves are added for data
exchange, arteries and veins are added for blood supply,
…… Exactly the same way as we build our robots
 In this structure, joints will compress, and parts do not
influence the shape of the whole structure (they can
only affect the force distribution).
 Current biomechanics, orthopedics and physiotherapy
are based on this concept.

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Classical biomechanics
We see the body structure as:
Skeleton, transferring the loads
+ cartilage for proper contact
+ ligaments, for holding the bones together
+ muscles, to give motion and stability
+ blood vessels +nerves + …
+ some other tissues which are there

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Differences between classical and
tensegrity bodies
 Unlike the “classical body”, in the “tensegrity body”
all parts will have influence on the overall shape of
the body. As the classical structures, they also have
influence on the force distribution in the body.
 Both classical and biotensegrity bodies can work
under all gravity directions (remember mobile
robots), and in both holism can apply.

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 Thank you for your attention.
Questions please…

?
?

? 32
Hierarchy – the concept
 The elements of the
tensegrity structure are
themselves tensegrities,
the elements of these
substructures are
tensegrities, …

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Hierarchy – how to apply
 The ideal mathematical tensegrity deals with rods
and cables, but in the nature we usually have other
forms and shapes. Ideally, no tensegrity is found in
the nature.
 So, we should understand what we mean by
applying the concept. It should be made clear what
is meant by “…. is tensegrity”
 Very unreasonable debates are seen among the
experts in the field, just due to lack of unified
terminology
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The Cell
 Many researchers, prominently D. Ingber from
Harvard University, have shown evidences that the
cytoskeleton is a “tensegrity structure”, as opposed to
the fluid-filled sack model.

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Organs

Bone micro-structure
Seems more like a truss not a tensegrity 36
(?)