Design and optimization of a one-degree-of-freedom six-bar leg mechanism for a walking machine. - Win-Bin Shieh; Lung-Wen Tsai; Shapour Azarm (J. Field Robotics, 1997)

Design of Statically Balanced Planar Articulated Manipulators With Spring Suspension. - Po-Yang Lin; Win-Bin Shieh; Dar-Zen Chen (IEEE Trans. Robotics, 2012)