Variable-stiffness tensegrity spine

@article{Zappetti2020VariablestiffnessTS,
  title={Variable-stiffness tensegrity spine},
  author={Davide Zappetti and Roc Arandes and Enrico Ajanic and Dario Floreano},
  journal={Smart Materials and Structures},
  year={2020},
  volume={29}
}
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… 
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