You've got it right. At the bottom of the project's website[1] is a list of publications of which two explain it well - and they're available as free .pdf's: 1

You've got it right. At the bottom of the project's website[1] is a list of publications of which two explain it well - and they're available as free .pdf's: 1. http://scholar.google.com/scholar?q=%E2%80%9CPassive+exoskeletons+for+assisting+limb+movement%E2%80%9D&hl=en&btnG=Search&as_sdt=1%2C5&as_sdtp=on http://scholar.google.com/scholar?q=%E2%80%9CPassive+exoskel... 2. http://scholar.google.com/scholar?q=A+Simple+Technique+to+Passively+Gravity-Balance+Articulated+Mechanisms&hl=en&btnG=Search&as_sdt=1%2C5&as_sdtp=on http://scholar.google.com/scholar?q=A+Simple+Technique+to+Pa... [1]: http://www.nemours.org/research/labcenter/orthopedics/perl/wrex.html http://www.nemours.org/research/labcenter/orthopedics/perl/w...