This thesis presents a preliminary investigation of using the principles of tenseg
rity to model the interactions that make up the human knee. The main theory behind
tensegrity is to suspend compressionable members in a network for tensile members.
Current robotics literature views the human knee as a revolute joint or as a ball and
socket joint. Although the simplicity of this approach has signiﬁcant advantages for
robotic systems, this approach has signiﬁcant disadvantages for biologically inspired
systems (e.g., prosthetics). The current research will investigate if tensegrity based
robotic design could be used for the next generation robotics and prosthetic devices.