This technology is a safe flight transport system and real-time path planning method that estimates physical properties, such as the mass of an object during aerial manipulator transport operations, and generates safe paths in real-time by considering the drone's propulsion capabilities and the kinematic constraints of the robotic arm.
There is a risk of crashing if the additional torque caused by the weight of the transported object exceeds the drone's allowable thrust range. Existing tether or gripper methods suffer from low transport stability, as they are unable to perform precise motion control or estimate physical properties in complex environments.
This technology proposes a method that acquires kinematic information based on the object's external dimensions, estimates physical properties in real-time during post-takeoff hovering, and determines the operational workspace by comparing these with propulsion limits. By using inverse kinematics and priority-based task allocation to generate safe paths, it enables transport without the risk of crashing. Applicable to drone delivery, aerial operations, and industrial facility maintenance, it prevents crash risks during transport and enhances the practical commercial viability of aerial manipulators.
This invention was developed with support from the Ministry of Education's Convergence Knowledge-based Creative Mechanical and Aerospace Talent Training Program and the Ministry of Trade, Industry and Energy's development of drone autonomy and vision-based operation technology for high-precision aerial manipulation.
This technology features a 1-DOF linkage mechanism for finger rehabilitation that includes supports coupled to the first and second phalanges of a finger, precisely guiding finger movement through a combination of multiple links, revolute joints, and prismatic joints.
Existing finger rehabilitation devices often require complex control algorithms and multiple actuators, leading to high costs. Furthermore, conventional 1-DOF linkage devices suffer from an increased number of mechanical components and limitations in layout modifications when changing joint positions.
This technology proposes a link structure incorporating multiple prismatic and revolute joints, allowing for flexible layout changes within the plane of motion. By applying a pin-in-slot joint to simplify mechanical elements, it optimizes the number of parts while efficiently utilizing linear or rotary actuators. It can be used for finger rehabilitation in stroke and hand injury patients, and by inducing precise joint movement with a single actuator, it reduces device costs and improves accessibility to rehabilitation.
This invention was developed with the support of the Ministry of Science, ICT and Future Planning for the development and application of creative synthesis technology for spatial mechanisms.
This technology is a foldable module and manipulator that uses an origami-based Thales linkage structure to transform between a cubic state and a flat state with a single degree of freedom. It secures structural rigidity in its upright state through the folding and interlocking mechanism of its side plates and lockers.
Conventional robotic arms are bulky and complex, which can compromise flight stability in small mobile platforms like drones due to weight and dynamic coupling issues. Furthermore, attempts to increase degrees of freedom for miniaturization often result in reduced rigidity, making them vulnerable to external forces.
This technology proposes a method to ensure cubic rigidity by incorporating top and bottom plates, a second side plate divided into foldable and non-foldable sections, and a locker that engages with the first side plate to provide a locking function. The shape of the entire module can be controlled with a single degree of freedom using an actuator that adjusts the tension of a wire passing through wire holes. It is an innovative solution that achieves both compact storage when folded and high rigidity when deployed, making it suitable for drone-mounted robotic arms, space structures, and portable work equipment.
This invention was developed with support from the Human-Centered Soft Robot Technology Research Center of the Ministry of Science and ICT and the development of soft robotics-based technology for next-generation soft grippers by the Ministry of Trade, Industry and Energy.
This technology is an artificial joint mechanism that forms a tensegrity structure by connecting two branching joint members with multiple main and sub-strings. This design ensures rotational freedom and flexibility without physical contact, effectively preventing friction and wear.
Traditional rigid mechanical joints struggle to absorb external shocks, cannot achieve flexibility along the axis of rotation through control methods alone, and suffer from reduced durability over time due to friction and wear between components.
This technology connects the branches of the first and second joint members symmetrically or in parallel using multiple main strings, while incorporating auxiliary sub-strings to control rotational characteristics. This allows for pitch/yaw rotational freedom and multi-directional flexibility based on string tension. Applicable to collaborative robots, wearable robots, and precision manipulators, it ensures long-term durability by eliminating friction and wear through non-contact rotation.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of biomimetic bionic arm mechanisms.
This technology is a mechanical mechanism that uses a pneumatic cylinder and piston rod to simultaneously move multiple grippers mounted on a body frame in a linear direction, physically gripping the internal space of a substrate from multiple directions.
Precise alignment during substrate transfer is difficult, the gripping area is limited, and there is a risk of physical damage to components during the gripping process.
This technology adopts a structure where grippers positioned on each side of the body frame move linearly in four directions (up, down, left, and right) via a drive unit (piston rod), flexibly accommodating and securing the substrate through rollers and elastic elements within the grippers. It can be applied to semiconductor and display transfer as well as manufacturing automation, increasing alignment accuracy by gripping the substrate from multiple directions and reducing the risk of damage.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of process technology, grippers, and assembly technology for the assembly of small, precision parts for mobile IT products.
This technology is a system that delivers power wirelessly to a microrobot equipped with a wireless power transmission module at the tip of a catheter, which can be detached at a specific point within the body. It includes a magnetic resonance-based wireless power transfer mechanism between the catheter and the robot, as well as an alignment and reconnection mechanism using ultrasonic sensors.
Existing microrobots require external magnetic fields to be induced deep into the body to supply power, which leads to significant energy loss and difficulties in securing sufficient space for procedures due to the need for large coil systems.
This technology utilizes a structure where a catheter transports the robot to a specific location, and after the robot is detached, the catheter's power transmission unit (helical/planar coil) and the robot's power supply unit exchange power via magnetic resonance. The reconnection and alignment of the catheter and robot are controlled through a positioning means (ultrasonic sensor). Applicable to surgical robots, interventional systems, and medical automation, it minimizes power supply efficiency degradation and enables stable data transmission, thereby enhancing the overall efficiency of power and data delivery.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a microrobotic medical system for the treatment of chronic total occlusion in myocardial infarction.
This technology is a microsurgical instrument that utilizes the deformation of a tension pressure unit within a surgical robot arm to convert vertical physical movement into horizontal motion via a bent link structure, thereby driving the scissor mechanism to open and close the blades.
Existing surgical tools are limited to vertical movement because the scissor blades are aligned with the robot arm, which reduces accessibility and operational efficiency when dissecting or incising vertically elongated scar tissue.
This technology features a bent internal core that positions the scissor blades along a horizontal axis. It employs a mechanism that converts vertical transfer force into horizontal driving force by transmitting pressure changes from the tension pressure unit through a vertical transfer tube, a transfer connection tube, and a horizontal transfer tube. Applicable to surgical robots, interventional systems, and medical automation, it enables users to perform procedures with greater control and accuracy, thereby enhancing the precision and effectiveness of microsurgery.
This invention was developed with support from the Faculty Start-up Fund of the Ministry of Science, ICT and Future Planning.
This technology relates to a charging scheduling method and apparatus for multi-drone networks, where a mobile charging station determines the charging sequence for multiple drones.
Drones have limited mission durations due to battery capacity constraints, and in networks operating multiple drones, the efficient allocation of limited charging resources is a critical factor for system performance.
This technology improves the efficiency of resource allocation and overall system utility by determining charging priorities for each drone through an auction process and strategically deploying mobile charging stations.
This invention was developed with support from the Ministry of Science and ICT for research on 5G mobile communication technology for virtual reality between mobile entities.
This technology relates to a forearm structure featuring a wire mechanism for implementing and securing the rotational degrees of freedom of the radioulnar structure, simulating the pronation and supination movements of the human forearm in robotic applications.
Conventional robotic prosthetic hands are often heavier than actual arms, have limited degrees of freedom, and differ from the human body in both appearance and movement, making it difficult to achieve natural motion.
By using wires to implement and secure the intersecting rotational structure of the radius and ulna, this technology simultaneously ensures both rotational freedom and load-bearing capacity.
This invention was developed with support from the Ministry of Science and ICT’s Phase 2 (3rd) Bionic Wrist Design Technology Development project and the Human-Centered Soft Robot Research Center.
This technology is a Go game system that receives placement coordinates on a virtual board from a client, controls one of several robot arms to place a Go stone on a physical board, and manages the retrieval of stones by the robot arms when the game analysis indicates a removal is necessary.
Existing Go game systems were limited by physical space, as they required users to sit face-to-face with a robot, and they struggled to efficiently remove multiple stones when necessary.
This technology proposes a method where, when multiple stones need to be removed, a second robot arm is moved to an intermediate waypoint and held in standby before the first robot arm completes its removal operation. It can be applied to remote match services and educational or recreational game robots, providing an immersive gaming experience that transcends physical boundaries.
This invention was developed with support from the Ministry of Education for the development of fundamental source technology for a symptom-customized IoT multimodal social robot therapy engine platform, which features patient internal/external situational awareness and learning functions for the alleviation of antipsychotic disorders.
This technology reconstructs 3D seafloor terrain by cross-matching horizontal profile data acquired from multibeam sonar with vertical profile data from profiling sonar based on threshold points, and extracting feature lines using a weighted RANSAC algorithm.
Underwater optical camera use is limited, necessitating the use of sonar. However, 2D sonar images often suffer from lost height information, object distortion based on viewing angles, and low signal-to-noise ratios, making accurate seafloor reconstruction difficult.
This technology proposes a method to correct for lost height information by reflecting the difference in ultrasonic scanning angles between sonars to cross-calibrate and register horizontal and vertical profile data. It enables the acquisition of precise 3D terrain maps using only sonar, with applications in seafloor surveys, offshore plant design, and underwater tunnel construction.
This invention was developed with support from the Smart Underwater Tunnel System Research Center of the Ministry of Science and ICT.
This technology is a reliability evaluation method for mobile robot localization that estimates the distance type of laser range sensor measurements and calculates reliability weights for those types through sample pose-based reference distance calculation and distance error analysis.
Existing laser range sensor-based localization suffers from degraded scan-matching performance when measurements are distorted by dynamic obstacles, environmental changes, or optical anomalies such as glass and mirrors.
This technology proposes a method that extracts preliminary samples from an estimated pose to generate a ray-tracing-based reference distance set, estimates the distance type based on the error from the measured distance, and then calibrates the observation model's reliability by combining the frequency and deviation of the types. It can be applied to service robots in commercial facilities with many glass walls, fundamentally reducing localization failures caused by reflection and transmission.
This invention was developed through the following projects: the Intelligent Growing Autonomous Driving System for Unmanned Vehicles Operating Safely in Congested Residential Road Environments (Ministry of Science, ICT and Future Planning); the Development of Commercial-Grade Autonomous Driving Controllers for Unmanned Transport Robots in Diverse Environments (Ministry of Science, ICT and Future Planning); the Development of Learning-Based Robot Mobility Intelligence for Robust Indoor/Outdoor Integrated Autonomous Driving (Ministry of Trade, Industry and Energy); and the Agricultural Production Unmanned Automation Workforce Training and Research Support (Ministry of Agriculture, Food and Rural Affairs).
This technology is a mechanical rotary brake device and a robot arm equipped with it, featuring a locking member supported by a buffer spring on a rotation support coaxially coupled to a rotating body, where a stopper physically contacts the locking protrusion to restrain the rotation.
Existing electronic clutch brake systems have limitations in precision control due to slippage, while friction-based surface contact methods suffer from increased volume, weight, and production costs.
This technology proposes a method where a solenoid-driven stopper makes direct contact with a locking protrusion to mechanically stop rotation, while a buffer spring absorbs the impact force. This achieves reliable, slip-free braking while protecting components. It can be applied to emergency stops and posture maintenance systems for robot arms, ensuring both safety and durability in a compact, lightweight design.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a low-cost robot system based on multi-degree-of-freedom passive gravity compensation.
This technology is a robot arm equipped with a gravity compensation device that places an elastic member-based counterbalancer on the pitch joint of a multi-degree-of-freedom robot arm, linking it with a parallel four-bar linkage structure to mechanically offset gravity torque caused by self-weight and secure the joint's range of motion.
Existing parallel four-bar linkage-based gravity compensation devices have technical limitations, such as a range of motion restricted to less than 180 degrees due to dead-point issues, and wire or belt-based systems that suffer from poor durability and reproducibility.
This technology proposes a method that utilizes a dual parallel four-bar linkage mechanism and configures a counterbalancer module—including a connecting rod, slider, guide bar, and spring—on the first and second links, respectively, to compensate for gravity torque during link rotation using the spring's restoring force. It can be applied to industrial robot arms and collaborative robots, significantly reducing actuator capacity and energy consumption while expanding the range of motion.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of next-generation manufacturing robot technology for workspace sharing and smart factory applications.
This technology is a robot-assisted bone fragment positioning system and method that synchronizes the coordinate systems between medical image-based surgical planning and the actual surgical environment through a two-stage registration process, and automatically controls bone fragment movement by setting anatomical feature points as the center point of the robotic tool.
Conventional surgical robots have faced challenges where the manual setting of anatomical feature points by surgeons is time-consuming, and registration accuracy can be compromised by the surgeon's level of expertise or environmental factors.
This technology proposes a method that calculates the displacement between the actual model in pre-operative medical images and the virtual model post-surgery, performs coordinate registration through marker-based displacement tracking of the robotic end-effector and bone fragments, and generates control signals by mapping feature points to the origin of the robotic tool. This approach reduces registration time and improves surgical accuracy. It can be utilized in orthopedic and oral and maxillofacial fracture reduction surgeries, enhancing the consistency of surgical outcomes by shortening registration time and reducing reliance on the surgeon's skill level.
This invention was developed with support from the Ministry of Health and Welfare's project for the development of clinical-centered maxillofacial surgical platforms and transparent display-based image-guided maxillofacial surgery technology.
