Tensegrity structures are a class of space structures composed of compressed bars in equilibrium in a network of tensioned cables. Independently of the boundary conditions, their stability and stiffness depend both on the mechanical and geometrical properties of the elements as well as the pre-stress introduced during assembly, which is called self-stress state that can be determined using form finding methods. This study is a continuation of an ongoing project "Sea for All" aiming to investigate, develop and design sea accessibility platform solutions based on tensegrity structure which has led to a solution inspired by the "Tensarch" concept. Besides, another platform solution is being developed inspired by "Quadruplex" units with a modified geometry to form a rigid and stable upper layer either for straight or curved configurations all while ensuring lightweightness, esthetics, modularity and foldability. Each module is an assembly of two symmetrical and modified "Quadruplex" units with interlayer cables necessary to introduce selfstress state in the module for an optimal deployment for any modular configuration. Also, we will focus on curvature effect, selfstress state and support conditions of a platform on its stiffness through a parametric analysis.