A static balancer is a mechanism used to force compensate mechanical systems and has been used in applications such as improving haptic feedback in surgical instruments and lowering motor loads in robotic systems. Currently no complete overview exists of all SB methods, this paper can be seen as an extension to earlier work by introducing more static balancing categories and methods. The goal is to have a comprehensive overview of state-of-the-art to aid designers in selecting the appropriate static balancer technology for mechanical systems. Existing designs are categorized based on the energy storage mechanism, e.g. elastic energy storage mechanisms. Critical design parameters are extracted from published literature to form the basis of comparison of the different categories. A performance criterium is defined to illustrate balancing capabilities as a function of system size. The three comparison parameters are: CompensatedForce Volume ; SBStroke Volume ; Energy Volume The comparison results show that compliant flexure balancers are the best selection for balancing systems while keeping minimal size. Theoretical calculations show that there is still ample room to improve current balancers with regard to the chosen balancer criteria.

Advanced robotic hand prostheses are praised for their impressive robust and fine grasping capabilities generated from intricate systems. Nevertheless, a high demand remains for grasping mechanisms that are mechanically simple, lightweight, and cheap to produce, easy to assemble and low in maintenance costs. This paper presents the design of a partially compliant underactuated finger to demonstrate the feasibility of achieving these rigorous requirements. The conceptual topology of the three phalanx finger is selected based on competitive analysis. Employing Pseudo-Rigid Body Model and Finite Element Analysis, a genetic optimization problem is formulated to minimize bending stresses within compliant flexures. The result is a fully functional demonstrator capable of flexing 180o in finger rotation. The prototype is fabricated from flexible high strength nylon and requires no assembly steps beyond 3D printing. Experimental testing verifies the design method with an acceptable error of