In Chapter 1, the focus is on the classification of force generators, which is the family of mechanisms to which balancers belong to. The goal of this chapter is to introduce a bottom-up classification method to identify the complete solutions space of transmissions in force generators based on their transfer function. Using this method, spring-to-mass balancers with one non-auxiliary revolute joint will be classified to identify their working principles and find new design opportunities.

In Chapter 2, the focus is on balancers applied in exoskeletons and robotic manipulators. The goal of this chapter is twofold. The first goal is to introduce the optimal balancer adjustment types for application in exoskeletons and robotic manipulators. The second goal is to compare their performance based on the balancing quality, energy involved in adjustment and dimensions through an analytical MATLAB model. The introduced adjustment types incorporate a commercial available spring with realistic properties and their performance is considered in their complete range of motion.

The results of the complete thesis research are discussed in Chapter 3, and in Chapter 4, the main conclusions are highlighted. This thesis ends with additional information about the performed research, which can be found in Appendices A to H.