This paper provides the methodology used to simulate and control an icosahedral tensegrity structure augmented with movable masses attached to each bar to provide a means of locomotion. The center of mass of the system can be changed by moving the masses along the length of each of the bars that compose the structure. Moving the masses changes the moments created by gravitational force, allowing for the structure to roll. With this methodology in mind, a controller was created to move the masses to the desired locations to cause such a roll. As shown later in this paper, such a methodology, assuming the movable masses have the required mass, allows for full control of the system using a quasi-static controller created specifically for this system. This system has advantages over traditional tensegrity controllers because it retains its shape and is designed for high-shock scenarios.

Humans are able to perform skilful movements by coordinating muscles throughout the body. It has been revealed that not only neural mechanisms but also direct and dynamic interactions between body parts contribute to muscular coordination. Tensegrity, accurately biotensegrity, can be considered to the basic mechanism for the interactions. Tensegrity structures are composed of tensile and compressive components, and are lighter and more flexible than existing rigid structures. The authors investigated designing wearable tensegrity structures for extending human motor ability, especially assisting in carrying heavy objects. Based on Flemons' spine model, we devised a columnar tensegrity structure that can be expanded to the size of the whole body, and connected each of four columns to the front and back of the body on right and left side. The wearable tensegrity structures can deform flexibly due to tension distribution when external force is applied, and follow the human motions in twisting trunk and walking. Experimental results in carrying heavy objects showed that some muscle activities around hip and knee tended to decrease by using the structures when those joints extended.