Abstract: Most passive gravity balancing mechanisms (GBMs) require manual adjustment or actuators to alter its parameters for different payloads. The few balancers that passively self-regulate employ regulation at the end-effector, ...

Abstract: Safe tool-tissue interaction is critical in medicine. The exerted force or torque on the tissue is required to be under control. This paper presents a design framework for producing simple mechanisms with adjustable constant ...

Abstract: Design and other fundamental topics in engineering are often isolated to dedicated courses. An opportunity exists to foster a culture of engineering design and multidisciplinary problem solving throughout the curriculum. ...