# Design and evaluation of a four-DoF upper limb exoskeleton with gravity compensation

> Research article (Mechanism and Machine Theory, 2024) · cited 18× · AI/ML

**Wikidata**: [openalex:W4400692594](https://www.wikidata.org/wiki/openalex:W4400692594)  
**Source**: https://4ort.xyz/entity/design-and-evaluation-of-a-four-dof-upper-limb-exoskeleton-with-gravity-compensation