Fig. 7: Various structural configurations and stiffness plots.
From: Modular shape-changing tensegrity-blocks enable self-assembling robotic structures
a Single unit. b Two horizontally connected units. c Three horizontally connected units. d Four horizontally connected units. e A bridge: three horizontal units with fewer ground supports. f A 4-bridge. g Two vertically stacked units. h Three vertically stacked units. i Four vertically stacked units. j Tent structure.
