We show that the well-known problem of frame dependence and violation of local Lorentz invariance in the usual formulation of f ( T ) gravity is a consequence of neglecting the role of spin connection. We re-formulate f ( T ) gravity starting from, instead of the ‘pure tetrad’ teleparallel gravity, the covariant teleparallel gravity, using both the tetrad and the spin connection as dynamical variables, resulting in a fully covariant, consistent, and frame-independent version of f ( T ) gravity, which does not suffer from the notorious problems of the usual, pure tetrad, f ( T ) theory. We present the method to extract solutions for the most physically important cases, such as the Minkowski, the Friedmann–Robertson–Walker (FRW) and the spherically symmetric ones. We show that in covariant f ( T ) gravity we are allowed to use an arbitrary tetrad in an arbitrary coordinate system along with the corresponding spin connection, resulting always in the same physically relevant field equations.

Teleparallel gravity theories employ a tetrad and a Lorentz spin connection as independent variables in their covariant formulation. In order to solve their field equations, it is helpful to search for solutions which exhibit certain amounts of symmetry, such as spherical or cosmological symmetry. In this article we present how to apply the notion of spacetime symmetries known from Cartan geometry to teleparallel geometries. We explicitly derive the most general tetrads and spin connections which are compatible with axial, spherical, cosmological, and maximal symmetry. For homogeneous and isotropic spacetime symmetry we find that the tetrads and spin connection found by the symmetry constraints are universal solutions to the antisymmetric part of the field equations of any teleparallel theory of gravity. In other words, for cosmological symmetry we find what has become known as “good tetrads” in the context of $f(T)$ gravity.

New classes of modified teleparallel theories of gravity are introduced. The action of this theory is constructed to be a function of the irreducible parts of torsion $f(T_{\rm ax},T_{\rm ten},T_{\rm vec})$, where $T_{\rm ax},T_{\rm ten}$ and $T_{\rm vec}$ are squares of the axial, tensor and vector components of torsion, respectively. This is the most general (well-motivated) second order teleparallel theory of gravity that can be constructed from the torsion tensor. Different particular second order theories can be recovered from this theory such as new general relativity, conformal teleparallel gravity or $f(T)$ gravity. Additionally, the boundary term $B$ which connects the Ricci scalar with the torsion scalar via $R=-T+B$ can also be incorporated into the action. By performing a conformal transformation, it is shown that the two unique theories which have an Einstein frame are either the teleparallel equivalent of general relativity or $f(-T+B)=f(R)$ gravity, as expected.Comment: v2: 10 pages, accepted for publication in PLB; for a detailed derivation of the field equations see Appendix A in v

The teleparallel formulation of gravity theories reveals close structural analogies to electrodynamics, which are more hidden in their usual formulation in terms of the curvature of spacetime. We show how every locally Lorentz invariant teleparallel theory of gravity with second-order field equations can be understood as built from a gravitational field strength and excitation tensor which are related to each other by a constitutive relation, analogous to the premetric construction of theories of electrodynamics. We demonstrate how the previously studied models of $f(\mathbb{T})$ and $f(T_{\mathrm{ax}},T_{\mathrm{ten}},T_{\mathrm{vec}})$ gravity as well as teleparallel dark energy can be formulated in this language. The advantage of this approach to gravity is that the field equations for different models all take the same compact form and general results can be obtained. An important new such result we find is a constraint which relates the field equations of the tetrad and the spin connection.