# Compact Variable Gravity Compensation Mechanism With a Geometrically Optimized Lever for Maximizing Variable Ratio of Torque Generation

> Research article (IEEE/ASME Transactions on Mechatronics, 2020) · cited 21× · AI/ML

**Wikidata**: [openalex:W3031107144](https://www.wikidata.org/wiki/openalex:W3031107144)  
**Source**: https://4ort.xyz/entity/compact-variable-gravity-compensation-mechanism-with-a-geometrically-optimized-lever-for-maximizing-variable-ratio-of-to