A passive-assist design approach for improved reliability and efficiency of robot arms. - W. Robert Brown; A. Galip Ulsoy (ICRA, 2011)

Maneuver based design of a passive-assist device for augmenting linear motion drives. - W. Robert Brown; A. Galip Ulsoy (ACC, 2013)

Robust design of Passive Assist Devices for multi-DOF robotic manipulator arms. - W. Robert Brown; A. Galip Ulsoy (Robotica, 2017)