Glove-type grip assistance device using pneumatic cylinders, pulleys, and wires to enhance gripping force

This technology is a glove-type wearable device that converts the stroke changes of a pneumatic cylinder into bending and extending motions of the finger joints using a pulley-based stroke compensation member and a wire system. It utilizes an external pneumatic source (e.g., a firefighter's air tank) and enhances gripping force by controlling cylinder actuation via finger pressure sensors.

Existing electric motor-based assistive devices require large batteries and motors to generate high output, which increases the weight and places a significant burden on the user, leading to accumulated muscle fatigue when handling heavy objects.

This technology optimizes device weight by incorporating a pneumatic cylinder and wire connection structure, while the stroke compensation member (pulley mechanism) ensures a wide range of motion for finger joints even with minimal stroke changes. Additionally, it features a control unit based on pressure sensors that detect fingertip pressure and open/close valves to automatically assist with grip. Applicable to firefighting, industrial sites, strength assistance, and rehabilitation, it increases gripping force without the need for large batteries, thereby reducing muscle fatigue and musculoskeletal strain.

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Key Features:

• A wearable grip assistance device maintained at a distance shorter than the gap between the inner surface of the thimble-type main body and the fingertip facing it in the normal direction.
• A stroke compensation member installed on the wire component that supplements the cylinder's stroke to increase the range of bending and extending motions of the glove structure.
• A wire component installed between the glove structure and the cylinder that works in conjunction with the cylinder's operation to bend or extend the glove structure.
• A cylinder connected to the glove structure, driven by pneumatic pressure, which enables the bending and extending motions of the glove structure through stroke changes.

Active Upper Limb Exercise Assist Device

This technology is an upper limb exercise assist device coupled with a multi-joint robot. It detects upper limb movement by placing multiple 1-axis force sensors (load cells) in an open-type cradle that accommodates the user's forearm, and generates robot motion control signals by detecting the user's intended hand rotation through a separate pronation/supination sensing mechanism.

Conventional 6-axis force-torque sensors are expensive, and because the user's arm must be firmly fixed to the robot, it is difficult for the user to escape in the event of a system malfunction, posing a safety risk.

This technology ensures safety and simplifies the controller by using an open-structure cradle with distributed low-cost 1-axis force sensors to detect user movement, and a pronation/supination sensing mechanism featuring a cam and spring to identify user intent. Applicable to logistics picking, service robots, and manufacturing automation, it reduces malfunctions and emergency incidents in multi-joint robots, improves the accuracy of user intent detection, and provides better power assistance in the direction of upper limb movement.

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Key Features:

• An active upper limb exercise assist device comprising a pronation/supination sensing means that detects the pronation/supination of the user's hand through the rotation of a handle part, which is coupled to the front end of a distance adjustment member and rotatably connected to the axis of a pronation/supination rotation sensor.
• A height adjustment member that is vertically coupled to the lower part of the front end of the base's horizontal plate, and adjusts the height between the cradle and the handle by adjusting its own height.
• A distance adjustment member whose rear end is coupled to the lower end of the height adjustment member, and which adjusts the distance between the cradle and the handle by adjusting its length in the front and rear directions.
• A pronation/supination sensing unit that detects the user's intent for pronation/supination of the hand based on the rotation direction of the handle part.

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This invention was developed with the support of the Ministry of Science, ICT and Future Planning for the development of an active exercise system based on human-robot collaboration technology to improve upper limb motor function in the elderly and infirm.

Mobile Platform for Field Robot Manipulators

This technology is a mechanical mobile platform located beneath a manipulator that detects ground inclination in real-time and controls multiple independently driven cylinders to maintain the level of the upper frame, allowing it to actively adapt to changing terrain.

Conventional caterpillar-type mobile platforms have fixed front and rear sections, which cause instability in the manipulator's posture on inclined terrain and limit movement in narrow spaces due to the inability to adjust width when navigating obstacles.

This technology features first and second pivoting plates on either side of a central coupling plate, with sensors installed on each base plate to measure ground inclination. By extending or retracting independent cylinder sets placed between each pivoting plate and base plate, it achieves precise horizontal control of the upper frame and variable movement width. It can be applied to robotic gripping, precision measurement, and automated equipment, enhancing operational stability and efficiency by maintaining the level of the upper frame.

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Key Features:

• A mobile platform for a field robot manipulator, comprising a pair of second cylinders that control the second pivoting plate horizontally in response to detection values from a second base plate sensor.
• An inclination control unit with both ends coupled to the upper frame and lower frame respectively, capable of changing length and controlling the upper frame horizontally in response to detection values from a sensor unit.
• A mobile platform for a field robot manipulator that moves the manipulator, comprising an upper frame unit to which the manipulator is coupled on its top surface.
• A sensor unit that measures the inclination of the upper frame or lower frame.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of a reinforced concrete chipping robot system for the maintenance of covered structures.

Flexible Dome-Shaped Tactile Sensor for 3-Axis Force Measurement

This technology relates to a flexible dome-shaped tactile sensor capable of 3-axis force measurement, a tactile sensor array, and a manufacturing method thereof, utilizing a hemispherical bump structure to simultaneously detect normal and shear forces.

Conventional tactile sensors have faced limitations in applications involving human contact or attachment to curved surfaces due to spatial constraints, high manufacturing complexity, and a lack of flexibility.

This technology features a flexible structure with stacked lower electrodes, a sensing layer, upper electrodes, and hemispherical bumps to resolve and measure 3-axis forces. It can be expanded into an array to map tactile distribution and is suitable for use in robot hands and wearable devices.

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Key Features:

• A plurality of lower electrodes in an array format printed on a flexible lower substrate, with each electrode electrically connected.
• A sensing layer coupled to the top of each lower electrode, and a plurality of upper electrodes coupled to the top of the sensing layer and printed on the underside of a flexible upper substrate.
• A hemispherical bump coupled to enclose the sensing layer and the plurality of upper electrodes, designed to transmit external forces to the sensing layer.
• A configuration that measures normal force based on the average value of signals from the plurality of sensing layers, and shear force based on the difference between the signals.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of tactile/texture augmented reality actuator technology for remote operation of power facilities using flexible thin-film actuators of 0.5 mm or less.

String-Twisting Actuator Cartridge for Easy String Replacement

This technology relates to a string-replacement cartridge for a string-twisting actuator and the actuator itself, allowing for the replacement of consumable strings as a modular cartridge unit.

Fiber strings are consumables that wear out or break due to repeated twisting; however, existing designs require the actuator to be disassembled for replacement, making maintenance cumbersome and time-consuming.

By modularizing the string and the fixing unit into a single cartridge and combining it with a detachable rigid module, this technology enhances durability while significantly simplifying the replacement process.

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Key Features:

• A shaft configured for use in string-twisting actuators, designed to allow a drive motor to be attached and detached at one end.
• A fixing unit with a through-hole for the shaft, and a fixed end that restricts shaft rotation when attached.
• A string with one end coupled to the shaft and the other end connected to a hook.
• A detachable rigid module that can be assembled between the hook and the fixing unit to prevent the length of the string coupled to the hook from changing.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of core technologies for compact, lightweight, high-performance, and durable safe drive modules based on string twisting, utilizing string surface strengthening, variable radius pulleys, and hybrid drive control; the development of a human-augmentation hybrid robot suit capable of safe 100m traversal in 7 seconds and comfortable 12-hour wear; and the Ministry of Science and ICT’s Human-Centered Soft Robot Technology Research Center.

Intelligent muscle strength and gait assistance robot with joint actuators mounted directly on the exoskeleton

This technology is an intelligent muscle strength and gait assistance robot that integrates an exoskeleton worn on the user's lower body with a caster walker as a gait aid via an arm, and minimizes power transmission distance by installing actuators directly on the hip and knee joints.

Conventional gait aids suffer from low mechanical efficiency and complex structures due to the long power transmission distance between the actuator and the joint, as well as risks of detachment and structural instability caused by the separation of the arm and the exoskeleton.

This technology proposes a method of positioning the joint actuators on the exoskeleton rather than the arm and integrating the arm and exoskeleton into a single unit. It can be applied to lower limb rehabilitation and muscle strengthening training, maximizing power transmission efficiency, simplifying control, and ensuring structural stability.

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Key Features:

• Exoskeleton equipped with a pair of frames and hip and knee joints that rotate the frames
• Configuration where waist, thigh, and calf braces are fastened to the frame
• Caster walker unit that is mobile and equipped with handles to provide stable gait assistance to the user
• A pair of arms integrally coupled to the frame, with both ends fastened to the exoskeleton and the caster walker, respectively

Parallel Gripper Performing Ground-Contact Scooping via a Mechanical Compliance Mechanism

This technology is a parallel gripper that performs a scooping motion upon ground contact without complex control by combining a first drive mechanism that induces passive vertical movement at the contact point with a second drive mechanism that induces passive rotation.

Conventional rigid grippers struggle to adapt to various shapes, soft fin-ray grippers lack gripping precision and force, and existing finger mechanisms often fail to interact with the surrounding environment upon ground contact, hindering the gripping process.

This technology proposes a method where a joint section based on a Mecha-Hartz mechanism induces vertical movement and compliance at the contact point, while a link unit and pressure section implement rotation and scooping. It can be applied to logistics picking, disinfection robots, and picking up objects from the floor, allowing for the stable retrieval of thin objects on the ground without the need for additional sensors or control.

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Key Features:

• A pair of chucks equipped with contact sections that interact with the ground while contacting the target object
• A first drive mechanism that passively moves the contact section in a vertical direction when it makes contact with the ground
• A second drive mechanism that passively rotates the contact section when it makes contact with the ground
• A parallel drive module that moves the pair of chucks horizontally to grip the target object

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This invention was developed with support from the Ministry of Science and ICT for the development of task design and control algorithms for intelligent autonomous disinfection robots.

Extrinsic Parameter Calibration for Multiple 3D LiDAR Sensors Using Plane Extraction and Variance Minimization

This technology is an optimization-based calibration method designed to calibrate extrinsic parameters—the relative positions between multiple 3D LiDAR sensors. It extracts planar information from measured point clouds, calculates initial values through similarity analysis between reference and corresponding planes, and minimizes the variance of measured points.

Existing methods using artificial markers require additional environmental setup and costs. Point cloud registration-based techniques often fail when there is a significant difference in the field of view between sensors, while methods relying on trajectory data are prone to estimation errors.

This technology sequentially performs data collection, plane extraction, corresponding plane detection, and the calculation of initial and final extrinsic parameters, calibrating based on planes that satisfy mathematical conditions such as planarity and normal direction variance. It can be applied to autonomous vehicles and multi-sensor robots, providing an economical solution for immediate on-site sensor alignment without the need for specialized calibration equipment.

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Key Features:

• Data collection phase where point clouds are gathered by each 3D LiDAR sensor
• Plane extraction phase where multiple target planes are identified from the point clouds
• Detection phase where one target plane is set as the reference plane to identify corresponding planes from other sensors
• Calculation phase for extrinsic parameters through similarity analysis between corresponding planes and minimization of measured point variance

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This invention was developed with support from the Ministry of Science and ICT and the Ministry of Agriculture, Food and Rural Affairs for the training and research of personnel in unmanned agricultural production automation.

Wearable Gait Assistance Robot Control Technology Utilizing Residual Muscle Strength via EMG Analysis

This technology is a control device and method for a wearable gait assistance robot that measures a user's muscle activity signals using EMG sensors, quantifies muscle strength through signal analysis, and controls the level of assistance by subtracting the user's residual muscle strength from the total power required for robot operation, thereby encouraging active muscle engagement.

Existing gait assistance robots focus on supporting patients with complete paralysis. When used by patients with partial muscle strength, these robots often lead to total reliance, resulting in muscle atrophy or risks of injury due to a lack of synchronization between the user's muscle movements and the robot's assistance.

This technology analyzes current muscle strength based on EMG signals and calculates the necessary assistance by subtracting the user's strength from the total required power, while setting the driving power at a predetermined lower ratio to encourage voluntary muscle participation. It can be used for stroke rehabilitation and gait training for the elderly, preventing robot dependency and enabling active rehabilitation that enhances residual muscle strength.

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Key Features:

• A biosignal sensing unit that detects biosignals from a user wearing a wearable gait assistance robot
• A signal analysis unit that quantitatively analyzes the user's current muscle strength based on the EMG signals detected by the biosignal sensing unit
• A robot drive control unit that regulates the robot's operating power based on the analyzed muscle strength of the user
• A configuration that determines the level of assistance by subtracting the user's muscle strength from the power required for the intended movement

Brain-Machine Interface Wearable Robot Control Technology Combining Tactile Stimulation Induction and Motion Artifact Removal

This technology collects brain signals generated by applying distinct tactile stimuli to both of the user's feet to induce motor imagery. It removes motion artifacts generated during robot movement using reference signals and independent component analysis, then calculates walking intent, speed, and stride length through a brain signal classifier to control the wearable robot.

Existing brain-machine interface technologies face challenges in intuitively distinguishing between right and left foot movement intentions during rehabilitation for patients with lower-limb paralysis, and the motion artifacts generated during robot operation distort brain signals, leading to lower accuracy in intent recognition.

This technology proposes a method that induces EEG patterns by applying tactile stimuli of different frequencies to the left and right feet, removes motion artifacts in real-time by using the robot's inertial sensor values as reference signals, and distinguishes walking intent through a multi-classifier ensemble. It can be used for the rehabilitation and gait reconstruction of patients with lower-limb paralysis, enabling intuitive robot control that accurately reflects the user's intent.

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Key Features:

• A step of presenting different tactile stimuli to the left and right feet of a user wearing a wearable robot
• A step of acquiring brain signals manifested by motor imagery and tactile stimulation, as well as reference signals for movement
• A step of determining the movement intent corresponding to the brain signals based on the brain signals and a brain signal classifier
• A step of transmitting the classifier's output and movement intent to a control command receiver to control the wearable robot

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This invention was developed with support from the Ministry of Science and ICT under the project "Development of Non-invasive BCI Integrated Brain-Cognitive Computing SW Platform Technology for Controlling Real-life Devices and AR/VR Devices with Thoughts" (BCI-General/Sub-project 1) and "Development of BCI-based Brain-Cognitive Computing Technology for Recognizing Human Intent Using Deep Learning" (BCI-Sub-project 2).

Wearable Upper Limb Rehabilitation Device Combining a Wire-Driven Glove and Anchor Member

This technology is a wearable upper limb rehabilitation device that implements rotational movement of a glove through wire winding and unwinding, and secures a comfortable fit by tightening and loosening the arm support using a wire-driven mechanism.

Conventional upper limb rehabilitation devices are bulky and heavy due to their frame and stand configurations, and are limited to use in fixed locations, which reduces accessibility for patient rehabilitation training.

This technology proposes a method where a fixing member is placed on a glove worn on the user's hand, support is adjusted via a tightening motor and wire within an anchor member that wraps around the forearm, and a length-adjustment motor controls a rotation wire to induce vertical rotational movement of the wrist joint. This enables a lightweight, wearable structure that allows for rehabilitation training anywhere. It can be used for upper limb rehabilitation in stroke patients and for home-based self-training, significantly improving rehabilitation accessibility and the patient's quality of life by removing location constraints through its lightweight, wearable design.

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Key Features:

• A glove worn on the user's hand, featuring a fixing member provided on the upper side that covers the back of the hand.
• An anchor member comprising a lower support that wraps around the outer circumference of the forearm, a plurality of locking parts, a tightening wire, and a tightening motor.
• A rotation wire with one end attached to the fixing member on the glove and the other end extending past the lower support of the anchor member.
• A length-adjustment motor that moves the glove vertically by winding or unwinding the rotation wire to adjust its length.

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This invention was developed with support from the Human-Centered Soft Robotics Research Center of the Ministry of Science and ICT.

Mobile robot device for playing hide-and-seek based on video and distance recognition

This technology is a mobile robot device that performs hide-and-seek scenarios between a robot and a user based on video information from a camera and spatial information from a distance sensor. It features control technology that tracks the user via video during "seeker" mode and plans a path to a concealable location using surrounding obstacle information during "hider" mode.

Existing robot toys with simple combat functions fail to encourage physical activity in users and lack diversity in play, particularly in terms of emotional exchange and interaction between the user and the robot.

This technology proposes a method where a motion controller manages the drive unit based on "seeker" and "hider" modes, utilizing a camera for user recognition and light level detection, and a distance sensor for environmental awareness. It enables emotional interaction with the user by displaying facial expressions on a screen and providing audio feedback through a speaker. It can be applied to educational toys, children's play robots, and emotionally responsive service robots, offering a new direction for the robot toy market by encouraging both physical activity and emotional engagement.

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Key Features:

• An image processing unit that processes camera footage to generate display images, and an image display unit that outputs them
• A distance sensor that measures the distance to surrounding objects and a drive unit that moves the mobile robot device
• A motion control unit that manages the drive unit to perform hide-and-seek based on the captured video and measured distances
• Detects the user via captured video during "seeker" mode and controls the drive unit based on distance values during "hider" mode

Minimally invasive surgical robot system with remote endoscopic control via head movement

This technology is a minimally invasive surgical robot system that remotely controls the 3D position and orientation of an endoscope by sensing the pitching, yawing, and rolling movements of a surgical headset, while preventing physical collisions by calculating the centerline distance between the endoscope and the robotic arm.

Existing systems often require surgeons to control robotic arms and endoscopes using both hands or foot pedals, which disrupts the surgical workflow, demands high operational proficiency, causes user fatigue from constant focus on large monitors, and reduces spatial efficiency.

This technology proposes a method that transmits headset orientation data based on the user's head movements to a control unit, which then automatically executes the endoscope's vertical/horizontal rotation and forward/backward movement, while providing 2D and 3D surgical views through the headset's display. By controlling distance thresholds between the robotic arm and the endoscope to avoid interference, it enhances both surgical continuity and safety. Applicable to a wide range of minimally invasive procedures, including laparoscopic and robotic surgeries, it offers a solution that reduces the surgeon's operational burden and fatigue while simultaneously improving surgical flow and safety.

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Key Features:

• An endoscope inserted through an incision to capture real-time images of the surgical site, and a drive unit that moves it.
• A headset worn on the user's head that detects head movements to generate orientation data and displays 2D or 3D images.
• A control unit that sends drive control signals to the drive unit based on the orientation data generated by the headset and transmits endoscopic image data to the headset.
• A configuration where an orientation sensor detects the pitching, yawing, rolling, and angular velocity of the user's head to generate orientation data for endoscopic control.

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This invention was developed with support from the Ministry of Science and ICT for research on the development of next-generation surgical robot systems through collision avoidance for surgical robot arms.

Finger Prosthesis Mechanism with Underactuated Drive and Elastic Elements for Shape-Adaptive Grasping

This technology is a finger prosthesis device utilizing an underactuated mechanism. It transmits rotational force from the first axis to the second body via an elastic element. When the rotation of a specific link is restricted, the deformation of the elastic element allows the third body to rotate independently, enabling an adaptive grasp that conforms to the shape of an object.

Conventional robotic prostheses require multiple actuators to mimic the movement of individual finger joints, leading to complex structures. These designs struggle to provide flexible grasping capabilities that adapt to object shapes and often lack user comfort.

This technology achieves multiple degrees of freedom with fewer actuators through an interlocking structure between the first and second bodies that incorporates elastic elements. It also features a rolling contact mechanism using wires and pulleys at the terminal device to ensure stable torque transmission through tension control. Applicable to prosthetics, rehabilitation aids, and wearable robots, it allows for flexible adaptation to object shapes with fewer actuators while enhancing wearer comfort.

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Key Features:

• A first body comprising a first axis with one end of a transmission link connected to the other side, and a second axis coupled to the first axis and the other end of the transmission link.
• A second body comprising a first link that rotates in conjunction with the first axis through a member housing, and a second link connected to the second axis that pivots in conjunction.
• A robotic mechanism in which the third body rotates independently of the second body according to the pivoting of the second link connected to the second axis.
• A third body provided at one end of the second body that rotates according to the pivoting of the second link.

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This invention was developed with support from the Ministry of Science and ICT for the development of biomimetic bionic arm mechanisms.

Prosthetic hand module with multi-degree-of-freedom bending and adaptive grasping using elastic members and wires

This technology is a prosthetic hand mechanism that achieves independent bending/extension and adaptive grasping of multi-degree-of-freedom links by distributing the motor's rotational force to each joint frame through elastic members and wires within a transmission frame.

Conventional prosthetic hands suffer from non-independent finger joint movement, making adaptive motion to object shapes impossible and hindering the implementation of natural movements such as finger abduction and adduction.

By placing an elastic member between the motor's rotation axis and the wire tension adjustment plate, this technology enables independent rotation and adaptive grasping of individual links through elastic deformation upon contact with an object. It can be applied to prosthetic hands, rehabilitation aids, and wearable robots to achieve natural grasping tailored to object shapes through independent finger actuation.

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Key Features:

• A mounting section that houses the battery and the motor powered by it to provide power to the prosthetic hand
• A transmission frame including a rotation axis that rotates according to the motor's torque and a first wire tension adjustment plate to which the 1-1 and 1-2 wires are fixed
• A first link including a first joint frame connected to wires that rotate according to the tension of the 1-1 and 1-2 wires
• A third link including a third joint frame connected to 3-1 and 3-2 wires whose tension is adjusted according to the rotation of the rotation axis

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This invention was developed with support from the Ministry of Science and ICT for the development of biomimetic bionic arm mechanisms.