Reduction in gravitational torques of an industrial robot equipped with 2 DOF passive counterbalance mechanisms. - Kuk-Hyun Ahn; Won-Bum Lee; Jae-Bok Song (IROS, 2016)

Design of a 6-DOF collaborative robot arm with counterbalance mechanisms. - Won-Bum Lee; Sang-Duck Lee; Jae-Bok Song (ICRA, 2017)

Robot Joint Module with a Reactive-type Joint Torque Sensor. - Hui-Chang Park; Jae-Kyung Min; Won-Bum Lee; Jae-Bok Song (UR, 2018)

Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism. - Won-Bum Lee; Byung-Yoon Moon; Tae-Jung Kim; Jae-Bok Song (IROS, 2019)

Design of a Linear Gravity Compensator for a Prismatic Joint. - Do-Won Kim; Won-Bum Lee; Jae-Bok Song (IROS, 2020)

Wearable Arm Strength Supporter based on Adjustable Counterbalance Mechanism using a Spring Latch Module. - Kyung-Nam Kim; Won-Bum Lee; Do-Won Kim; Jae-Bok Song (UR, 2022)