@article{forbalforcebalanced25degreeoffreedomrobo,
  title = {Forbal: Force Balanced 2-5 Degree of Freedom Robot Manipulator Built from a Five Bar Linkage},
  author = {Yash Vyas and Matteo Bottin},
  year = {2025},
  eprint = {2509.03119},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.03119},
}