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2. Statically balanced compliant mechanisms (SBCM's), an example and prospects;Herder,2000
3. Feasibility study of a fully compliant statically balanced laparoscopy grasper;Stapel,2004
4. Design of a statically balanced compliant laparoscopic grasper using topology optimization;de Lange,2008
5. Concept and Modeling of a Statically Balanced Compliant Laparoscopic Grasper;Tolou,2009