This paper explores the integration of deformable compressed members into tensegrity structures, focusing on their application in robotic systems. A comprehensive investigation of the mechanical behavior of these members is presented, including their deformation characteristics and the influence of geometric parameters. The analysis demonstrates that these compliant members can be used for actuation within tensegrity structures without plastic deformation. Two different tensegrity structures, based on the needle tower topology, are employed to analyze the workspace and manipulation capabilities. Experimental validation is provided through a prototype incorporating the actuated compressed members, showcasing their potential for defined manipulation and tilting motions in the structure. The findings suggest that the proposed system can achieve precise and controlled deformation, enabling innovative applications in soft robotics and deployable structures. The results provide insights into the design and actuation of fully compliant tensegrity systems, offering a foundation for future research and practical implementations.