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 …

Purpose Exoskeletons are mechanical structures that humans can wear to increase their
strength and endurance. The purpose of this paper is to explain how exoskeletons can be …

Robotic gait training is gaining ground in rehabilitation. Room for improvement lies in
reducing donning and doffing time, making training more task specific and facilitating active …

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 …

This study is concerned with a cam type gravity compensation mechanism. A new type
interior cam mechanism is introduced as an alternative gravity-balancing mechanism for …

Energy consumption is a problem for robotic manipulators, which are popular in
manufacturing, assembly, and process handling. Some of the most significant energy …

This paper proposes a new solution to the problem of torque minimization of spatial parallel
manipulators. The suggested approach involves connecting a secondary mechanical …

Passively compensating a payload weight requires a mechanism that can generate a
nonlinear torque curve. Existing gravity-balancing mechanisms (GBMs) rely on linear or …

Static balancing through passive devices is a suitable strategy to reduce motor loads for
numerous applications in the automation and robotics fields. Many known methods require …

This paper studies the underlying theory of weight-balanced mechanism for the design of a
class of spatial mobile arm support (MAS), a spring assistive MAS. Conventional designs of …