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[1] J. Kim, J. Moon, J. Ryu, and G. Lee*, “CVGC-II: A New Version of a Compact Variable Gravity Compensator (CVGC) with a Wider Range of Variable Torque and Energy-Free Variable Mechanism,” IEEE/ASME Transactions on Mechatronics, 2021 (https://ieeexplore.ieee.org/abstract/... )