The basic systems of spatial structures such as shells, membranes, cable-nets and tensegrity structures have been developed to create the large spaces without column. But there are some difficulties concerning structural stability, surface formation and construction method. Tensegrity systems are flexible structures which are reticulated spatial structures composed of compressive members and cables. The rigidification of tensegrity systems is related to selfstress states which can be achieved only when geometrical and mechanical requirements are simultaneously satisfied. In this paper, the force density method allowing form-finding for tensegrity systems is presented. And various modules of unit-structures are investigated and discussed using the force density method. Also, a model of double-layered single curvature arch with quadruplex using supplementary cable is presented.