Compact and Variable Gravity Compensation Module - version II

Related Article: [1] J. Kim, J. Moon, J. Ryu, and G. Lee*, “CVGC-II: A New Version of a Compact Variable Gravity Compensator (CVGC) with a Wider Range of Variable Torque and Energy-Free Variable Mechanism,” IEEE/ASME Transactions on Mechatronics, 2021 (https://ieeexplore.ieee.org/abstract/document/9477149 )