Teleparallel gravity and its popular generalization f(T) gravity can be
formulated as fully invariant (under both coordinate transformations and local
Lorentz transformations) theories of gravity. Several misconceptions about
teleparallel gravity and its generalizations can be found in the literature,
especially regarding their local Lorentz invariance. We describe how these
misunderstandings may have arisen and attempt to clarify the situation. In
particular, the central point of confusion in the literature appears to be
related to the inertial spin connection in teleparallel gravity models. While
inertial spin connections are commonplace in special relativity, and not
something inherent to teleparallel gravity, the role of the inertial spin
connection in removing the spurious inertial effects within a given frame of
reference is emphasized here. The careful consideration of the inertial spin
connection leads to the construction of a fully invariant theory of
teleparallel gravity and its generalizations. Indeed, it is the nature of the
spin connection that differentiates the relationship between what have been
called good tetrads and bad tetrads and clearly shows that, in principle, any
tetrad can be utilized. The field equations for the fully invariant formulation
of teleparallel gravity and its generalizations are presented and a number of
examples using different assumptions on the frame and spin connection are
displayed to illustrate the covariant procedure. Various modified teleparallel
gravity models are also briefly reviewed.Comment: v2: 72 pages, revised version, references added, matches published
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