{
  "abstract": "A zero-gravity balancer arrangement for manipulating objects in three-dimensional space is disclosed. The arrangement includes an end effector with an integrated grip sensor that detects operator contact. A control system monitors both the grip sensor state and the vertical velocity of the end effector. When the grip sensor indicates disengagement, the balancer transitions from an unconstrained float mode to a rate-limited descent or ascent, preventing uncontrolled vertical drift of a slightly imbalanced load. This approach addresses the problem of loads \"running away\" when inadvertently released by an operator, enhancing safety and control during handling operations.",
  "canonical_url": "https://opentechnical.org/p/OT-2026-000000034",
  "categories": [
    "lifting-positioning-manipulation/manipulators-and-balancers/zero-gravity-balancers"
  ],
  "extent": {
    "figures": 3,
    "paragraphs": 18,
    "words": 2925
  },
  "figures": [
    {
      "caption": "A block diagram illustrating the main components and data flow within the balancer system.",
      "derivative": {
        "file": "figures/fig-001.png",
        "media_type": "image/png",
        "sha256": "61d489dd1621e5200c0e0d3df050276e579cbba6a824785ae82ead723e16d0d5"
      },
      "file": "figures/fig-001.svg",
      "number": "FIG-001",
      "sha256": "111db3a6464922f1036d41b7072bb2656ebffd358f3682740fe1d03420c403e7"
    },
    {
      "caption": "A block diagram detailing the internal logic and decision points of the control unit.",
      "derivative": {
        "file": "figures/fig-002.png",
        "media_type": "image/png",
        "sha256": "5a99993ceaab13d1840346903b6d51850833f43360fa0d0b1abd509a5d6318ab"
      },
      "file": "figures/fig-002.svg",
      "number": "FIG-002",
      "sha256": "4cd493849bb35f125bd1514ac9cb216c453d26e6331c593978b3c34ad929c536"
    },
    {
      "caption": "An elevation view of an end effector integrated with a grip sensing mechanism.",
      "derivative": {
        "file": "figures/fig-003.png",
        "media_type": "image/png",
        "sha256": "cf57e9106bf317f36f35be43b2e0a6d131e838208dcac430305d5b0fb2fe94fd"
      },
      "file": "figures/fig-003.svg",
      "number": "FIG-003",
      "sha256": "0f81bc4db213e980e8952509275503bd1c34ca132241fae7250de0becdda9992"
    }
  ],
  "files": [
    {
      "bytes": 37912,
      "media_type": "image/png",
      "name": "figures/fig-001.png",
      "sha256": "61d489dd1621e5200c0e0d3df050276e579cbba6a824785ae82ead723e16d0d5"
    },
    {
      "bytes": 6228,
      "media_type": "image/svg+xml",
      "name": "figures/fig-001.svg",
      "sha256": "111db3a6464922f1036d41b7072bb2656ebffd358f3682740fe1d03420c403e7"
    },
    {
      "bytes": 45271,
      "media_type": "image/png",
      "name": "figures/fig-002.png",
      "sha256": "5a99993ceaab13d1840346903b6d51850833f43360fa0d0b1abd509a5d6318ab"
    },
    {
      "bytes": 6589,
      "media_type": "image/svg+xml",
      "name": "figures/fig-002.svg",
      "sha256": "4cd493849bb35f125bd1514ac9cb216c453d26e6331c593978b3c34ad929c536"
    },
    {
      "bytes": 61657,
      "media_type": "image/png",
      "name": "figures/fig-003.png",
      "sha256": "cf57e9106bf317f36f35be43b2e0a6d131e838208dcac430305d5b0fb2fe94fd"
    },
    {
      "bytes": 6904,
      "media_type": "image/svg+xml",
      "name": "figures/fig-003.svg",
      "sha256": "0f81bc4db213e980e8952509275503bd1c34ca132241fae7250de0becdda9992"
    },
    {
      "bytes": 31561,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "cdbe712ca5b425e04d78faeede762f463c14ef5eda16773013ba02b77c3016a6"
    },
    {
      "bytes": 19694,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "e799926a3da76d8e3b1feeb862314b6883cbb20f46fab26da21248e3d3f6379c"
    },
    {
      "bytes": 19744,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "9dc4ae8ea3662ddb4212687adf95ffb6f304d27462edbea667da97e0e018cdf0"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000000034/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "zero gravity balancer",
    "rate-limited float",
    "grip sensor",
    "load handling",
    "manipulator control",
    "vertical velocity",
    "safety interlock",
    "end effector",
    "material handling",
    "operator intent"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000000034",
  "published_at": "2026-09-15T19:01:36.106708Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
  "schema": "opentechnical-publication-manifest/1.0",
  "supersedes": null,
  "title": "Rate-Bounded Zero Gravity Balancer with Grip Sensing",
  "uuid": "01a0a672-2ee7-77b0-b00d-af286c98dac0"
}