{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T14:13:52Z","timestamp":1778336032584,"version":"3.51.4"},"reference-count":47,"publisher":"IOP Publishing","issue":"10","license":[{"start":{"date-parts":[[2018,9,14]],"date-time":"2018-09-14T00:00:00Z","timestamp":1536883200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/publishingsupport.iopscience.iop.org\/iop-standard\/v1"},{"start":{"date-parts":[[2018,9,14]],"date-time":"2018-09-14T00:00:00Z","timestamp":1536883200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Smart Mater. Struct."],"published-print":{"date-parts":[[2018,10,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Superelastic tensegrity systems are prestressed structures composed by bars and cables in which some cables are realized with superelastic shape-memory alloys. These systems combine the peculiar features of tensegrity structures with those of shape-memory alloys and are particularly suitable for adaptive and variable-geometry systems. The main goal of this work is the design of systems with antagonistic actuation, that is to say, systems where two sets of superelastic cables can be actuated against each other in a reversible way. Superelasticity is here exploited to improve the stability of systems withstanding external loads. We show that the evolution of superelastic tensegrities, subjected to load and temperature changes, is described by a system of ordinary differential equations written in matrix form, a system that we solve by standard numerical routines. We then focus on a particular class of tensegrities and state a basic design criterion for an effective antagonistic actuation. Several case studies are presented. In particular, we applied our procedure to analyze different modules that can be assembled together in larger structures. Results show that the proposed procedure is able to replicate experimental data reasonably well and that it can be used to design complex systems in three-dimensions.<\/jats:p>","DOI":"10.1088\/1361-665x\/aadaa5","type":"journal-article","created":{"date-parts":[[2018,8,16]],"date-time":"2018-08-16T08:15:24Z","timestamp":1534407324000},"page":"105028","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":16,"title":["Superelastic tensegrities: matrix formulation and antagonistic actuation"],"prefix":"10.1088","volume":"27","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7842-5912","authenticated-orcid":false,"given":"Andrea","family":"Micheletti","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5815-4622","authenticated-orcid":false,"given":"Filipe Amarante dos","family":"Santos","sequence":"additional","affiliation":[]},{"given":"Petr","family":"Sittner","sequence":"additional","affiliation":[]}],"member":"266","published-online":{"date-parts":[[2018,9,14]]},"reference":[{"key":"smsaadaa5bib1","doi-asserted-by":"publisher","first-page":"7583","DOI":"10.1177\/026635119200700201","type":"journal-article","article-title":"Tensegrity systems: the state of the art","volume":"2","author":"Motro","year":"1992","journal-title":"J. Space Struct."},{"key":"smsaadaa5bib2","author":"Skelton","year":"2009","type":"book"},{"key":"smsaadaa5bib3","first-page":"113","type":"journal-article","article-title":"Tensegrity prisms as adaptive structures","volume":"54","author":"Oppenheim","year":"1997","journal-title":"Adapt. Struct. Mater. Syst. ASME"},{"key":"smsaadaa5bib4","doi-asserted-by":"publisher","first-page":"166","DOI":"10.1117\/12.276535","type":"journal-article","article-title":"Controllable tensegrity: a new class of smart structures","volume":"3039","author":"Skelton","year":"1997","journal-title":"Proc. SPIE"},{"key":"smsaadaa5bib5","doi-asserted-by":"publisher","first-page":"455","DOI":"10.1117\/12.316325","type":"journal-article","article-title":"Tendon control deployment of tensegrity structures","volume":"3323","author":"Sultan","year":"1998","journal-title":"Proc. SPIE"},{"key":"smsaadaa5bib6","article-title":"Folding tensegrity systems","author":"Bouderbala","year":"1998","type":"conference-proceedings"},{"key":"smsaadaa5bib7","article-title":"Deployable tensegrity structures for space applications","author":"Tibert","year":"2002","type":"other"},{"key":"smsaadaa5bib8","doi-asserted-by":"publisher","first-page":"1454","DOI":"10.1061\/(ASCE)0733-9445(2004)130:10(1454)","type":"journal-article","article-title":"Active tensegrity structure","volume":"130","author":"Fest","year":"2004","journal-title":"J. Struct. Eng."},{"key":"smsaadaa5bib9","doi-asserted-by":"publisher","first-page":"944","DOI":"10.1109\/TRO.2006.878980","type":"journal-article","article-title":"Design and control of tensegrity robots for locomotion","volume":"22","author":"Paul","year":"2005","journal-title":"IEEE Trans. Robot."},{"key":"smsaadaa5bib10","doi-asserted-by":"publisher","DOI":"10.1142\/9789814291279_0059","type":"conference-proceedings","article-title":"Rolling locomotion of deformable tensegrity structure","author":"Shibata","year":"2009"},{"key":"smsaadaa5bib11","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1260\/0266-3511.27.2-3.81","type":"journal-article","article-title":"Design aspects of a deployable tensegrity-hollow-rope footbridge","volume":"27","author":"Rhode-Barbarigos","year":"2012","journal-title":"Int. J. Space Struct."},{"key":"smsaadaa5bib12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907361","type":"conference-proceedings","article-title":"Design and evolution of a modular tensegrity robot platform","author":"Bruce","year":"2014"},{"key":"smsaadaa5bib13","first-page":"269","author":"Ganga","year":"2016","type":"book"},{"key":"smsaadaa5bib14","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/24\/10\/105008","type":"journal-article","article-title":"Design and experimental testing of an adaptive shape-morphing tensegrity structure, with frequency self-tuning capabilities, using shape-memory alloys","volume":"24","author":"dos Santos","year":"2015","journal-title":"Smart Mater. Struct."},{"key":"smsaadaa5bib15","author":"Duerig","year":"1994","type":"book"},{"key":"smsaadaa5bib16","article-title":"Shape memory alloys and their application to actuators for deployable structures","author":"Huang","year":"1998","type":"other"},{"key":"smsaadaa5bib17","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1016\/S0261-3069(01)00039-5","type":"journal-article","article-title":"On the selection of shape memory alloys for actuators","volume":"23","author":"Huang","year":"2002","journal-title":"Mater. Des."},{"key":"smsaadaa5bib18","doi-asserted-by":"publisher","first-page":"1017","DOI":"10.1177\/1045389X07083026","type":"journal-article","article-title":"Two-way antagonistic shape actuation based on the one-way shape memory effect","volume":"19","author":"Sofla","year":"2008","journal-title":"J. Intell. Mater. Syst. Struct."},{"key":"smsaadaa5bib19","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/17\/2\/025014","type":"journal-article","article-title":"Cyclic degradation of antagonistic shape memory actuated structures","volume":"17","author":"Sofla","year":"2008","journal-title":"Smart Mater. Struct."},{"key":"smsaadaa5bib20","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/18\/6\/065012","type":"journal-article","article-title":"Shape morphing hinged truss structures","volume":"18","author":"Sofla","year":"2009","journal-title":"Smart Mater. Struct."},{"key":"smsaadaa5bib21","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/21\/3\/035010","type":"journal-article","article-title":"Characterization and design of antagonistic shape memory alloy actuators","volume":"21","author":"Georges","year":"2012","journal-title":"Smart Mater. Struct."},{"key":"smsaadaa5bib22","article-title":"Progettazione di attuatori sma in configurazione antgonista: sviluppo di un dimostratore tecnologico per uso aerospaziale","author":"Moschetti","year":"2012","type":"other"},{"key":"smsaadaa5bib23","doi-asserted-by":"publisher","first-page":"7682","DOI":"10.3390\/s120607682","type":"journal-article","article-title":"An accurately controlled antagonistic shape memory alloy actuator with self-sensing","volume":"12","author":"Wang","year":"2012","journal-title":"Sensors"},{"key":"smsaadaa5bib24","doi-asserted-by":"publisher","first-page":"1951","DOI":"10.1177\/1045389X13486715","type":"journal-article","article-title":"Stress, strain, and resistance behavior of two opposing shape memory alloy actuator wires for resistance-based self-sensing applications","volume":"24","author":"Furst","year":"2013","journal-title":"J. Intell. Mater. Syst. Struct."},{"key":"smsaadaa5bib25","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/22\/8\/085006","type":"journal-article","article-title":"A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys","volume":"22","author":"Lai","year":"2013","journal-title":"Smart Mater. Struct."},{"key":"smsaadaa5bib26","doi-asserted-by":"publisher","first-page":"943117","DOI":"10.1117\/12.2084396","type":"journal-article","article-title":"Shape-retainment control using an antagonistic shape memory alloy system","volume":"9431","author":"Ikeda","year":"2015","journal-title":"Proc. SPIE"},{"key":"smsaadaa5bib27","first-page":"12","type":"conference-proceedings","article-title":"Variable geometry truss with sma wire actuators (basic consideration on kinematical and mechanical characteristics","author":"Hanahara","year":"2008"},{"key":"smsaadaa5bib28","type":"conference-proceedings","article-title":"Finite element analysis of adaptive trusses with shape memory alloy members","volume":"vol I","author":"Toi","year":"2010"},{"key":"smsaadaa5bib29","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1177\/1045389X16642532","type":"journal-article","article-title":"A shape memory alloy rod element based on the co-rotational formulation for nonlinear static analysis of tensegrity structures","volume":"28","author":"Faroughi","year":"2017","journal-title":"J. Intell. Mater. Syst. Struct."},{"key":"smsaadaa5bib30","doi-asserted-by":"publisher","DOI":"10.1115\/1.4023977","type":"journal-article","article-title":"A numerical method for simulating nonlinear mechanical responses of tensegrity structures under large deformations","volume":"80","author":"Zhang","year":"2013","journal-title":"J. Appl. Mech."},{"key":"smsaadaa5bib31","doi-asserted-by":"publisher","first-page":"857","DOI":"10.2140\/jomms.2007.2.857","type":"journal-article","article-title":"A marching procedure for form-finding for tensegrity structures","volume":"2","author":"Micheletti","year":"2007","journal-title":"J. Mech. Mater. Struct."},{"key":"smsaadaa5bib32","doi-asserted-by":"publisher","first-page":"409","DOI":"10.1016\/0020-7683(86)90014-4","type":"journal-article","article-title":"Matrix analysis of statically and kinematically indeterminate frameworks","volume":"22","author":"Pellegrino","year":"1986","journal-title":"Int. J. Solid Struct."},{"key":"smsaadaa5bib33","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1007\/BF01404753","type":"journal-article","article-title":"Rigidity and energy","volume":"66","author":"Connelly","year":"1982","journal-title":"Inventiones Math."},{"key":"smsaadaa5bib34","doi-asserted-by":"publisher","first-page":"3875","DOI":"10.1016\/j.ijsolstr.2006.10.027","type":"journal-article","article-title":"Stability conditions for tensegrity structures","volume":"44","author":"Zhang","year":"2007","journal-title":"Int. J. Solids Struct."},{"key":"smsaadaa5bib35","doi-asserted-by":"publisher","first-page":"3323","DOI":"10.1098\/rspa.2012.0260","type":"journal-article","article-title":"Self-equilibrium and super-stability of truncated regular polyhedral tensegrity structures: a unified analytical solution","volume":"468","author":"Zhang","year":"2012","journal-title":"Proc. R. Soc. A"},{"key":"smsaadaa5bib36","doi-asserted-by":"publisher","first-page":"2154","DOI":"10.1098\/rspa.2013.0052","type":"journal-article","article-title":"Bistable regimes in an elastic tensegrity structure","volume":"469","author":"Micheletti","year":"2013","journal-title":"Proc. R.Soc. A"},{"key":"smsaadaa5bib37","doi-asserted-by":"publisher","first-page":"3333","DOI":"10.1016\/j.ijsolstr.2014.05.021","type":"journal-article","article-title":"An operative algebraic formulation for the unilaterally-constrained mechanical problem of smart tensegrities","volume":"51","author":"Maceri","year":"2014","journal-title":"Int. J. Solids Struct."},{"key":"smsaadaa5bib38","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1023\/A:1011092811824","type":"journal-article","article-title":"Geometric effects in an elastic tensegrity structure","volume":"59","author":"Oppenheim","year":"2000","journal-title":"J. Elast."},{"key":"smsaadaa5bib39","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/17\/2\/025036","type":"journal-article","article-title":"Numerical simulation of superelastic shape memory alloys subjected to dynamic loads","volume":"17","author":"Cismasiu","year":"2008","journal-title":"Smart Mater. Struct."},{"key":"smsaadaa5bib40","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1016\/0749-6419(86)90016-1","type":"journal-article","article-title":"Thermomechanics of transformation pseudoelasticity and shape memory effect in alloys","volume":"2","author":"Tanaka","year":"1986","journal-title":"Int. J. Plast."},{"key":"smsaadaa5bib41","doi-asserted-by":"publisher","first-page":"3649","DOI":"10.1016\/S1359-6454(97)00490-4","type":"journal-article","article-title":"Phase diagram based description of the hysteresis behavior of shape memory alloys","volume":"46","author":"Bekker","year":"1998","journal-title":"Acta Mater."},{"key":"smsaadaa5bib42","doi-asserted-by":"publisher","first-page":"1329","DOI":"10.1016\/0020-7683(90)90082-7","type":"journal-article","article-title":"Analysis of prestressed mechanisms","volume":"26","author":"Pellegrino","year":"1990","journal-title":"Int. J. Solids Struct."},{"key":"smsaadaa5bib43","doi-asserted-by":"publisher","first-page":"453","DOI":"10.1137\/S0895480192229236","type":"journal-article","article-title":"Second-order rigidity and prestress stability for tensegrity frameworks","volume":"9","author":"Connelly","year":"1996","journal-title":"SIAM J. Discrete Math."},{"key":"smsaadaa5bib44","article-title":"Geometrical form-finding of tensegrity modules with orthogonal struts","author":"Micheletti","year":"2007","type":"conference-proceedings"},{"key":"smsaadaa5bib45","doi-asserted-by":"publisher","first-page":"559","DOI":"10.1007\/s10409-010-0351-6","type":"journal-article","article-title":"Design methods of rhombic tensegrity structures","volume":"26","author":"Feng","year":"2010","journal-title":"Acta Mech. Sin."},{"key":"smsaadaa5bib46","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1016\/j.compstruct.2017.09.074","type":"journal-article","article-title":"Automatically assembled large-scale tensegrities by truncated regular polyhedral and prismatic elementary cells","volume":"184","author":"Zhang","year":"2018","journal-title":"Compos. Struct."},{"key":"smsaadaa5bib47","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1002\/nme.4967","type":"journal-article","article-title":"An incremental energy minimization state update algorithm for 3d phenomenological internal-variable sma constitutive models based on isotropic flow potentials","volume":"105","author":"Artioli","year":"2015","journal-title":"Int. J. Numer. Methods Eng."}],"container-title":["Smart Materials and Structures"],"original-title":[],"link":[{"URL":"http:\/\/stacks.iop.org\/0964-1726\/27\/i=10\/a=105028?key=crossref.78c83f0ec99848b1cfc6a9dd9fb8c657","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"text-mining"},{"URL":"http:\/\/stacks.iop.org\/0964-1726\/27\/i=10\/a=105028\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5","content-type":"text\/html","content-version":"am","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"http:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"similarity-checking"},{"URL":"http:\/\/stacks.iop.org\/0964-1726\/27\/i=10\/a=105028\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/stacks.iop.org\/0964-1726\/27\/i=10\/a=105028?key=crossref.78c83f0ec99848b1cfc6a9dd9fb8c657","content-type":"text\/html","content-version":"vor","intended-application":"similarity-checking"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T13:57:34Z","timestamp":1778335054000},"score":1,"resource":{"primary":{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1361-665X\/aadaa5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,9,14]]},"references-count":47,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2018,9,14]]},"published-print":{"date-parts":[[2018,10,1]]}},"URL":"https:\/\/doi.org\/10.1088\/1361-665x\/aadaa5","relation":{},"ISSN":["0964-1726","1361-665X"],"issn-type":[{"value":"0964-1726","type":"print"},{"value":"1361-665X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,9,14]]},"assertion":[{"value":"Superelastic tensegrities: matrix formulation and antagonistic actuation","name":"article_title","label":"Article Title"},{"value":"Smart Materials and Structures","name":"journal_title","label":"Journal Title"},{"value":"paper","name":"article_type","label":"Article Type"},{"value":"\u00a9 2018 IOP Publishing Ltd. All rights, including for text and data mining, AI training, and similar technologies, are reserved.","name":"copyright_information","label":"Copyright Information"},{"value":"2018-03-21","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2018-08-16","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2018-09-14","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}