Gen Endo, Hiroya Yamada, Akira Yajima, Masaru Ogata, Shigeo Hirose. A passive weight compensation mechanism with a non-circular pulley and a spring. In IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010. pages 3843-3848, IEEE, 2010. [doi]
Abstract is missing.