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Figure 1. Freebal device for gravity compensation of upper limb. Source: Stienen AH, Hekman EE, Van der Helm FC, Prange GB, Jannink MJ, Aalsma AM, Van der Kooij H. Freebal: Dedicated gravity compensation for the upper extremities. In: Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics; 2007 Jun 13–15; Noordwijk aan Zee, the Netherlands. Piscataway (NJ): IEEE Press. p. 804–8. DOI:10.1109/ICORR.2007.4428517
Kloosterman MGM, Snoek GJ, Kouwenhoven M, Nene AV, Jannink MJA. Influence of gravity compensation on kinematics and muscle activation patterns during reach and retrieval in subjects with cervical spinal cord injury: An explorative study. J Rehabil Res Dev. 2010;47(7): 617–28. DOI:10.1682/JRRD.2010.02.0014