Stability conditions for tensegrity structures

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Symmetric prismatic tensegrity structures: Part I. Configuration and stability (2009, methodology): “We use the sufficient conditions for super stability of tensegrity structures presented by Connelly (1999) or Zhang and Ohsaki (2007): (1) The member directions do not lie on the same conic at infinity (Connelly, 1999), or equivalently, the geometry matrix of the structure has rank of six for three-”
Form-finding of tensegrity structures with multiple states of self-stress (2011, background): “It implies D is positive semi-definite and there is no nontrivial affine motion in the null space of the geometrical stiffness matrix KG. Any tensegrity structure falling into this case is super stable regardless of material properties and level of self-stress coefficients [27,36, 38 ].”
A new approach to the analytical and numerical form-finding of tensegrity structures (2013, background): “The first case corresponds to a super-stable configuration (see Connelly and Terrell, 1995 and Zhang and Ohsaki, 2007 for more detail about super-stability conditions) while the second one does not.”
Position-based tensegrity design (2017, methodology): “However there is no formal proof that infinitesimal rigidity is equivalent to super-stability as defined by Zhang and Ohsaki [2007].”