The actuator power required to resist joint torque caused by the weight of robot links can be
a significant problem. Gravity compensation is a well-known technique in robot design to …

По данным отечественной и зарубежной литературы проанализировано состояние
проблемы разработки и внедрения экзоскелетов. Показано, что в настоящее время …

Exoskeleton robots, which range from fully passive to fully active-assisted movements, have
become an essential instrument for assisting industrial employees and stroke rehabilitation …

In this book advanced balancing methods for planar and spatial linkages, hand operated
and automatic robot manipulators are presented. It is organized into three main parts and …

Gravity compensation (GC) mechanisms are commonly employed to either support limb
gravity in passive exoskeletons or decrease motor power for safe human-robot interaction in …

In this paper, we propose static-balancing mechanisms to permit perfect and approximate
compensation of gravitational loads for an articulated-cable leg-orthoses. Such gravity …

The purpose of this work is to design and fabricate a balanced passive robotic arm with the
capability of applying variable mass to the end-effector in order to upper limb rehabilitation …

The gravity compensation mechanisms (GCMs) are widely used in robotic manipulators and
exoskeletons. This paper presents a cable-driven GCM applied in a spatial multi-degree-of …

Evaluating exoskeleton actuation methods and designing an effective controller for these
exoskeletons are both challenging and time-consuming tasks. This is largely due to the …

A geometric method to the static balancing of mechanisms constructed using spherical chain
units is presented. A (serial) spherical kinematic chain unit is composed of n moving links …