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I wonder?
I also wonder why they set such a low limit for potential energy at the start of the match? Was it for safety reasons or just to make it challenging?
BTW - If you have ever use a compound bow for shooting arrows, you will know that there is a way to get variable and non-linear force over a specific range of motion. IF you are a clever sheep (as Joe would call it) you could design a counter balance that produces the required 20ft-lbs potential energy but get a greater force at the point you need it.
Another option is to use constant force springs - like those used on tape measures.
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Warning: this reply is just an approximation of what I meant to convey - engineers cannot possibly use just written words to express what they are thinking.
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