A lightweight gravity-balanced exoskeleton for home rehabilitation of upper limbs. - Hsiang-Chien Hsieh; Chao-Chieh Lan (CASE, 2014)

Dimensional synthesis of a lightweight shoulder exoskeleton. - Hsiang-Chien Hsieh; Li Chien; Chao-Chieh Lan (AIM, 2015)

Mechanical design of a gravity-balancing wearable exoskeleton for the motion enhancement of human upper limb. - Hsiang-Chien Hsieh; Li Chien; Chao-Chieh Lan (ICRA, 2015)