# Advanced 2-DOF Counterbalance Mechanism Based on Gear Units and Springs to Minimize Required Torques of Robot Arm

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 17× · AI/ML

**Wikidata**: [openalex:W4226000804](https://www.wikidata.org/wiki/openalex:W4226000804)  
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