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Lassooij, J. (author), Tolou, N. (author), Tortora, G. (author), Caccavaro, S. (author), Menciassi, A. (author), Herder, J.L. (author)This article presents the design of a newly developed 2DoF robotic arm with a novel statically balanced and bi-stable compliant grasper as the end effector for laparoscopic surgery application. The arm is based on internal motors actuating 2 rotational DoFs: pitch and roll. The positive stiffness of the monolithic grasper has been compensated...journal article 2012