@inproceedings{93fbbc6764df4e5f8c0996a63546e61e,
title = "Two Spatial Gravity Equilibrators",
abstract = "This paper describes the design of two spatial gravity compensation devices. The one is an arm-like structure with the same mobility (4dof) as the human arm, which is balanced by two springs. The other is a general suspension unit with full (6dof) mobility, balanced by a single spring. When link and spring masses are considered, rather than just the payload, the latter configuration needs an additional spring or a slight alteration of its structure for complete balance.",
keywords = "anthopomorphic robot arm, arm orthosis, gravity equilibrator, mobile arm support, spring mechanism, static balance, suspension system, NLA",
author = "Herder, \{Just L.\} and Tuijthof, \{Gabri{\"e}lle J.M.\}",
note = "Publisher Copyright: Copyright {\textcopyright} 2000 by ASME.; ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000, IDETC-CIE ; Conference date: 10-09-2000 Through 13-09-2000",
year = "2000",
month = sep,
doi = "10.1115/DETC2000/MECH-14120",
language = "English",
series = "International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference (IDETC/CIE)",
publisher = "American Society of Mechanical Engineers",
pages = "643--651",
booktitle = "26th Biennial Mechanisms and Robotics Conference",
address = "United States",
}