We propose a mechanism that exploits the singular configuration in a closed-loop four-bar linkage that can produce a high impulsive torque (a high torque for a short period in time) at the start of motion and high angular velocity during the successive motion. Such characteristics make the mechanism suitable for executing with high energy efficiency a certain class of tasks, such as lifting heavy objects. In this paper, we define the singularity-based linkage mechanism (SLM), analyze its characteristics of torque generation and energy efficiency theoretically, and then confirm them experimentally by using an SLM prototype. The performance of the SLM is compared with that of a comparable size parallelogram mechanism (PM). It is shown that the energy efficiency of the SLM comes from the fact that it achieves the high acceleration of the output link in the neighborhood of the singular configuration by providing energy with low current and high voltage to the motor; whereas the typical PM requires high current to produce the comparable impulsive torque.