# DISG: Driving-Integrated Spherical Gear Enables Singularity-Free Full-Range Joint Motion

> Research article (IEEE Transactions on Robotics, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4387129574](https://www.wikidata.org/wiki/openalex:W4387129574)  
**Source**: https://4ort.xyz/entity/disg-driving-integrated-spherical-gear-enables-singularity-free-full-range-joint-motion