Energy-free systems: theory, conception, and design of statically balanced spring mechanisms

By J. Herder. 2001

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The stiffness of tensegrity structures (2011, unknown): “For the correct level of pretension, the spring can be wound so that it has the tension/length properties shown in Figure 5: such springs are commonly used for static balancing, see, e.g., French and Widden (2000); Herder (2001).”
Zero stiffness tensegrity structures (2007, methodology): “Figure adapted from Herder (2001). and there exists a statically balanced zero-stiffness mode.”
On zero stiffness (2014, background): “The basic spring-to-spring balancer consists of a rigid link connected to two zero-free-length springs.(32) The geometric parameters are a1, a2, r1, r2, with spring stiffnesses k1, k2; note that the attachment points at the base are collinear.”