This paper presents a design concept for gravity compensation of planar articulated robotic
arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider …

This paper presents a design approach for gravity compensators using planar four-bar
mechanisms and a linear spring. This work enables the development of a class of gravity …

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 …

This paper presents a method for analyzing the performance of gravity-balanced serial
robotic manipulators under dynamic loads. The analysis is executed by adopting torque …

This paper presents a method for realizing a gear-spring balancer (GSB) that can cope with
variable payloads and its application to serial robots. The GSB is constructed with a three …

This article proposes a new version of a variable gravity compensation mechanism (CVGC-
II) for mobile manipulation robots, such as mobile manipulators and exoskeletons. CVGC-II …

In this article, we propose a compact variable gravity compensation (CVGC) mechanism with
a geometrically optimized lever shape. The CVGC mechanism can be used to generate …

This paper proposes a new type of energy-efficient actuator called variable gravity
compensation module integrated actuator (VGCA). VGCA improves the energy efficiency by …

Recent advancements in manipulator technology have addressed the integration of
manipulators in human-centric environments, emphasizing the need for intrinsic safety and …

Robotic manipulators are typically engineered with high-power systems to handle payloads
and counteract gravity, owing to their robust and weighty structures. However, there is now a …