Tendon Device for Wearable Robots

This technology utilizes a pair of wire devices that mimic agonist and antagonist muscles to assist in the flexion and extension of human joints. It provides a tendon-driven mechanism that controls the tension of each wire through a moving part supported by an elastic member and a drive wire, while providing real-time feedback on joint displacement via an encoder.

Conventional transfer equipment is limited in its range of use due to installation space constraints, while manual labor-dependent tasks suffer from reduced efficiency and a high risk of industrial accidents due to high physical intensity.

This technology assists muscle strength by connecting the first and second wires, fixed to the front and rear of the joint, to independent moving devices and varying the displacement of the moving parts via a drive wire connected to a drive motor. It controls tension balance by applying force in the opposite direction to the drive wire using a connecting wire, and ensures control efficiency by measuring movement with an encoder device that includes a rack-and-pinion structure. Applicable to industrial robots and automation systems, it enhances control stability and natural movement in wearable robots, prevents malfunctions, and reduces drive force transmission time.

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Key Features:

• A first wire and a second wire, each fixed to the anterior and posterior sides of a user's joint, moving longitudinally as the joint bends or extends.
• A first moving device comprising a first frame connected to the first wire, a first moving part elastically supported on the first frame by a first elastic member, and a first acting part installed on the first moving part.
• A second moving device comprising a second frame connected to the second wire, a second moving part elastically supported on the second frame by a second elastic member, and a second acting part installed on the second moving part.
• A tendon device for wearable robots, including a connecting wire that applies force to the first and second moving parts in a direction opposite to the force applied by the drive wire.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a garment-type wearable robot system consisting of a 50W-class drive module for human muscle strength assistance and human-robot muscle model-based control techniques.

Modular robot hand featuring abduction and flexion via constant velocity joints and bevel/spur gear linkages

This technology utilizes a combination of constant velocity joints, bevel gears, spur gears, and link mechanisms to achieve abduction/adduction (A/A) and flexion/extension of finger modules. By housing the drive module within the palm and utilizing gear ratios for dependent joint actuation, the design ensures both miniaturization and operational stability.

Tendon-driven systems often face maintenance challenges due to tension fluctuations, while direct-drive systems suffer from increased robot hand size due to the placement of motors and reduction gears.

This technology uses constant velocity joints to eliminate interference between flexion/extension and abduction/adduction movements. The gear linkage structure allows the motors to be integrated into the palm module, enabling a size comparable to a human hand. Suitable for manufacturing automation, service robots, and humanoids, it provides a compact, stable, and low-maintenance alternative to tendon-driven systems.

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Key Features:

• A first linkage module comprising a first linkage unit for the abduction/adduction (A/A) of the first finger module, and a second linkage unit for the flexion/extension of the first finger module.
• A second linkage module comprising a third linkage unit for the A/A of the second finger module, and a fourth linkage unit for the flexion/extension of the second finger module.
• At least two or more first finger modules detachably coupled to one side of the palm module.
• A drive module providing motive power to the first and second linkage modules.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of robot manipulation control technology capable of grasping, manipulating, and using various objects in daily life environments based on multimodal perception.

3-DOF Robot Leg Actuator Transmitting Remote Driving Force via Tension Members

This technology is a mechanism that controls the joint movement of a robot leg using multiple tension members (such as wires or cables) to apply tensile force. By arranging multiple hip joints and tension connection structures around a joint actuator composed of an acetabulum and a femoral head, the force from a remote actuator is transmitted to the thigh via tension members, enabling 3-DOF movement (rotation, abduction/adduction, and flexion/extension) of the leg.

Conventional leg drive methods require complex frame structures and heavy motors to be mounted directly on the joints, which increases the overall weight of the robot, results in poor shock absorption due to the heavy joints, generates noise, and incurs high manufacturing costs.

This technology places the drive motors at a distance from the joint actuator and connects multiple tension members—which pass through channels formed in the acetabulum and the branches of the hip joints—to the thigh, enabling multi-axis movement of the thigh through tension control. This eliminates the need for high-output/large motors directly at the joints, allowing for a lightweight design, while the tension members provide shock absorption. Applicable to walking robots, disaster response robots, and mobile platforms, it reduces the number of joint motors to achieve a lighter weight, improved shock absorption, and lower manufacturing costs.

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Key Features:

• A first hip joint unit positioned above the joint actuator, spaced apart from the joint actuator connected to the thigh
• A second hip joint unit positioned below the joint actuator and the first hip joint unit, spaced apart from them
• A central housing unit where the second hip joint unit is mounted on one side, and a central support unit arranged from the rear to the front of the central housing unit
• A tension member that connects at least two of the following: the thigh, the joint actuator, the first hip joint unit, the second hip joint unit, and the central support unit to apply tensile force

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This invention was developed with support from the Ministry of Science and ICT for a tensegrity robot system using pneumatic and tendon hybrid actuation.

Gadget Integration Structure System

This technology is a fastening mechanism that automatically connects and disconnects gadget modules and gadget control modules through physical contact and mechanical pressure with a magazine unit, without the need for an external power source. It includes a mechanism where the separation protrusion of the magazine unit presses the fastening unit of the gadget control module to release it from the locking part, while an attachment/detachment enhancement unit uses elastic force to facilitate the separation of the modules.

When replacing gadget assemblies attached to the end of a rescue robot's manipulator, existing methods require a separate power source for connection and disconnection, leading to complex structures, increased volume and weight, and higher production costs.

This technology implements a power-free connection/disconnection structure using a fastening unit (fastening member and elastic member) that interacts with protrusions on the magazine unit, a locking part on the bracket unit, and an attachment/detachment enhancement unit (pressure rod and pressure elastic member) that increases separation force. Applicable to industrial robots and automated systems, it eliminates the need for separate power sources for gadget module connection and disconnection, thereby improving the simplicity and cost-efficiency of the gadget integration structure.

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Key Features:

• The gadget control module features a fastening unit that is at least partially inserted into the gadget module when connected.
• The gadget control module includes a control module housing that accommodates at least a portion of the fastening unit.
• A gadget control module that connects to and disconnects from a gadget module.
• The attachment/detachment enhancement unit facilitates the separation of the gadget module and the gadget control module by pushing the bracket unit away from the gadget control module once the connection between the fastening unit and the locking part is released.

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This invention was developed with the support of the Ministry of Trade, Industry and Energy for the development of safety-guaranteed soft manipulators and multi-functional gadget technology for rescue operations.

Hand-Eye Calibration System

This technology is a geometric calibration method that calculates the relative transformation matrix X between a vision system and a working tool. It utilizes multiple vision data points and tool position data acquired by rotating (pivoting) the end-effector of a robot arm around a fixed pivot point.

Conventional hand-eye calibration methods are complex yet yield low accuracy, and the discrepancy between the reference coordinate systems of the vision system and the working tool makes precise control difficult.

This technology constrains the positional change of the end-effector through a pivoting motion, calculates the vision system position vector and the tool marker position vector at each location, and then mathematically minimizes errors using the transformation matrix relationship between the pivot point and each device to derive the transformation matrix X. Applicable to robotic gripping, precision measurement, and automated equipment, it provides a hand-eye calibration method using pivoting motion to improve the accuracy of calculated results in vision-based intelligent industrial robots.

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Key Features:

• A step of acquiring a first image of a pattern when the end-effector is at a first position and a second image of the pattern when the end-effector is at a second position, using a vision system provided on the end-effector.
• (C) A step of calculating the transformation matrix X between a specific point and the vision system, using the transformation matrix between the pivot point and the vision system, the transformation matrix between the pivot point and the specific point, and vectors A and B.
• A step of obtaining vector B from the position of the vision system at the first position to the position of the vision system at the second position, using the first and second images.
• are the rotation matrix and translation vector of X, is the translation vector of E, and is the translation vector of F.

Control Method for Microrobots and Device for Controlling Microrobots

This technology is a feedforward and disturbance observer control technique that generates a dynamic model of an object as a transfer function using position and control input signals of a microrobot in a fluid, and then performs real-time correction of control input signals for position commands by inverse modeling to observe disturbances.

Existing control methods rely on simple position error-based fixed-constant control without considering the dynamic characteristics of microrobots in viscous fluid environments, making precise control difficult and leaving them vulnerable to disturbances.

This technology constructs a disturbance observer by deriving an inverse model based on the microrobot's dynamic model and improves system response speed and positioning accuracy by combining the user's position command signal with the output of the feedforward/feedback controller to determine the final control input signal. It can be applied to robotic gripping, precision measurement, and automated equipment, enhancing the precision and accuracy of microrobot control by accounting for their dynamic characteristics.

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Key Features:

• A control unit that determines the final control input signal for operating the microrobot based on a high-level control input signal derived from user input and an observed disturbance signal.
• A magnetic field generation unit that produces a magnetic field to operate the microrobot according to the control input signal.
• A position measurement unit that generates a position signal for the microrobot by tracking its location.
• A device for controlling microrobots.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a micro-medical robot system for the treatment of chronic total occlusion in myocardial infarction.

Gripper device for simultaneous gripping of stacked objects using a dual gripper connected by a damping unit

This technology is a multi-gripper mechanism that connects vertically arranged first and second gripper units via a damping unit, allowing for the independent yet organic pressing and gripping of multiple stacked objects. The first gripper moves laterally, while the second gripper moves longitudinally. Through the telescopic and elastic members of the damping unit, the structure allows the second gripper unit to automatically adjust its height while pressing the second object during the gripping process of the first object.

Conventional single grippers are optimized for gripping objects with linear sides, making it difficult to pick up objects where the top protrudes outward relative to the bottom, and they suffer from the inefficiency of being unable to pick up stacked objects simultaneously.

This technology features a vertically arranged, laterally moving first gripper and a longitudinally moving second gripper, with a damping unit containing telescopic and elastic members between them. This configuration allows the second gripper unit to automatically adjust its height difference to stably grip the second object by utilizing the pressing force generated during the gripping of the first object. Applicable to logistics picking, manufacturing automation, and service robots, it increases processing efficiency by picking up objects with protruding tops or stacked items in a single motion.

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Key Features:

• A first gripper unit comprising a first body with a preset volume and a pair of first grippers connected to the lower part of the first body to be movable in a lateral direction
• A second gripper unit comprising a second body with a preset volume and a second gripper connected to the lower part of the second body to be movable in a longitudinal direction
• A gripper device where the distance between the first body and the second body is reduced as the elastic member is compressed.
• A telescopic member with a variable length, having its lower end connected to the second body

Flexible Walking Robot Foot with Tensegrity-Based Shock Absorption

This technology is a robotic foot device based on a tensegrity structure. Multiple frames (forefoot, hindfoot, and ankle) are not physically joined directly but are held together by tension members (cables) to maintain tension and enable flexible walking movements.

Conventional rigid-body robotic feet have limited shock absorption due to their structure. Furthermore, because motors must be mounted directly onto the joint rotation axes, these systems are heavy and complex, making it difficult to achieve a wide range of motion.

This technology connects the forefoot, hindfoot, and ankle frames with cables (tension members), allowing for the adjustment of tension across the entire structure. This enables lightweight, flexible shock absorption and multi-directional rotation (dorsiflexion, plantarflexion, pronation/supination). By allowing the joint drive motors to be placed outside the ankle structure, the overall system weight is reduced. It can be applied to walking robots, disaster response robots, and off-road mobility platforms, providing shock absorption and flexible movement similar to a human foot.

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Key Features:

• Hindfoot section comprising a right hindfoot frame that intersects with the right forefoot frame, and a hindfoot connector between the left hindfoot frame and the right hindfoot frame
• First ankle section comprising a left ankle frame, an intermediate frame installed on the side of the left ankle frame, and a right ankle frame installed on the side of the intermediate frame opposite the left ankle frame
• Forefoot section comprising a left forefoot frame, a right forefoot frame, and a rear fixing bar connecting the left and right forefoot frames
• Tension member providing tensile force to at least one of the forefoot section, hindfoot section, first ankle section, or second ankle section

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This invention was developed with support from the Ministry of Science and ICT for a tensegrity robot system using pneumatic and tendon hybrid actuation.

Sewer Pipe Repair Robot Controlled via User Behavioral Data

This technology is a sewer pipe repair system mechanism that extracts 6-DOF motion data for repair tasks based on the user's biological signals (EMG, joint movement, etc.) and external force information to generate autonomous operation manuals, which are then used to control the manipulator.

The challenges include labor shortages due to the hazardous nature of sewer environments, as well as increased operator fatigue, reliance on individual skill levels, and the potential for safety accidents when using remote control systems.

This technology consists of a control module that uses a guide module to digitize user control actions and biological signals to generate autonomous operation manuals, and a mobile platform that actively maintains the manipulator's level through tilt measurement and cylinder control. It can be applied to robotic gripping, precision measurement, and automated equipment, improving the accuracy and efficiency of sewer repair work, enhancing user safety, and overcoming obstacles in the robot's path.

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Key Features:

• A guide module that measures the biological signals of the user operating the guide member
• A work platform including a repair module for chipping or removing debris from the inner walls of sewer pipes and a manipulator to control it
• A mobile platform that moves along the sewer pipe and controls the manipulator to maintain a level position relative to the ground
• A control module that generates autonomous operation manuals from measured biological signals and controls the work platform

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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.

Sewer Pipe Repair Device

This technology is a gate-type structure designed for the repair and inspection of sewer pipe inner walls. It features a mobile platform integrated with a frame consisting of horizontal and vertical components, allowing for autonomous movement. A mobile unit equipped with repair and inspection modules travels along rails installed on the frame to perform tasks.

Repairing aging concrete in sewer pipes poses significant safety risks to workers, including suffocation, electric shock, and falls. Furthermore, the need for automation is increasing due to a shortage of skilled labor and declining labor productivity.

This technology features a mobile platform for navigating the sewer floor, a rail structure capable of adjusting to the pipe's cross-sectional shape for omnidirectional repair and inspection, a depth control unit for enhanced efficiency, and sensor-based algorithms for leveling and distance control. Applicable to logistics, service robots, and autonomous platforms, it replaces manual labor with robotics for sewer pipe maintenance, significantly improving both operational efficiency and safety.

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Key Features:

• A frame assembly comprising a horizontal frame facing the ceiling of the sewer pipe and a pair of vertical frames coupled to both ends of the horizontal frame, extending downward to face the side walls of the sewer pipe.
• A mobile rail assembly that mirrors the shape of the frame assembly, positioned at a distance from it, partially connected to the frame, and featuring rails formed along its longitudinal direction.
• An inspection module coupled to the mobile unit that monitors the quality of the repair work or the condition of the sewer pipe's inner wall.
• A repair module coupled to the mobile unit that performs repairs on the ceiling and walls of the pipe.

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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.

Brush assembly and pipe cleaning robot equipped with the same

This technology secures the adhesion of a brush assembly by combining link members, which feature variable bending angles via a hinge structure to match the inner wall profile of a pipe, with leaf spring-based elastic members attached to the sides of the link members to prevent twisting and provide restorative force.

When cleaning pipes with varying diameters or bends, conventional fixed-brush structures suffer from reduced adhesion to the inner wall, leading to low cleaning efficiency and difficulty in removing debris.

This technology allows the link members to bend and deform according to the pipe's inner wall environment, while using elastic members (leaf springs) to prevent twisting at the hinge and ensure natural restoration to the original state. Furthermore, by connecting multiple link members with hinge axes and connecting components, it enables omnidirectional pipe cleaning. Applicable to industrial robots and automated systems, it improves cleaning efficiency and effectiveness in deep, narrow transport lines where high levels of toxic gas residue are likely.

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Key Features:

• A connecting member that links the common hinge axis of at least two first link members with the common hinge axis of at least two second link members
• At least two second link members spaced apart from each other in a second direction different from a first direction
• An elastic member mounted on the side of the link member that deforms according to the bending angle of the link member
• At least two first link members spaced apart from each other in a first direction

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of core human-centric wellness technologies.

Shaft-based endovascular intervention robot with integrated drive components using a multi-part setup jig

This technology integrates multiple drive components, which align and operate intervention wires and catheters, into a single module using a multi-part setup jig for streamlined assembly and alignment.

Previously, assembling endovascular intervention robots involved individually mounting and aligning each drive component onto a base, leading to cumbersome processes, delays, and misalignment issues.

This technology introduces a multi-part setup jig that coaxially aligns and secures multiple drive components as a single unit, allowing the entire set to be mounted onto the base at once. Applicable to endovascular interventions, robotic surgery, and medical automation, it significantly reduces alignment time and enhances assembly efficiency.

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Key Features:

• Features a shaft-based multi-part setup jig including a jig body that couples to each of the multiple drive component fasteners, where the drive component fastener includes a jig base that connects to the base part.
• Multiple drive component fasteners that secure multiple drive components as a single unit.
• An endovascular intervention robot featuring a shaft-based multi-part setup jig that includes a fastener with latch grooves provided on both sides of the outer circumference facing the width direction.
• A multi-part setup jig that coaxially aligns multiple drive components and secures them as a single, integrated module.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the AI algorithm-based endovascular intervention robot system project aimed at reducing radiation exposure and achieving 0.5 mm procedural accuracy.

Rail robot traveling on a single rail using drive wheels and pivoting rail guide units

This technology features a rail robot structure that includes drive wheels and multiple rail guide units, enabling travel on a single rail via a rail guide path. It is characterized by a mechanical mechanism that performs pivoting and guide control of the rail guide units to adapt to curvatures and inclines.

Conventional dual-rail systems have faced issues such as high installation costs, the difficulty of designing complex curved rails, and increased system costs due to the need for complex control algorithms to prevent derailment during travel on curved sections.

This technology utilizes drive wheels and rail guide units arranged in opposition within the main body's mounting space in an isolated structure to enable travel on a single rail. By securely gripping the rail through side guide units, lower guide units, and support units (first and second), the guide units are configured to respond fluidly when traveling on curved and inclined rails. Applicable to smart factories, logistics transport, and automated facility inspection, it reduces installation costs compared to dual-rail systems while improving performance on curved and inclined sections.

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Key Features:

• An isolation unit that separates multiple mounting spaces from each other, is positioned between the multiple rail guide units, and features a bulkhead shape
• At least one of the multiple rail guide units is a first side guide unit that guides the rail from one side of the rail
• Multiple rail guide units mounted in the multiple mounting spaces, exposed to the rail guide path, and configured to guide the rail
• A second side guide unit that guides the rail from the side opposite to the first side of the rail

Brain Training Simulation System Based on Imitation Learning

This technology acquires non-invasive brain signals (such as EEG and NIRS), performs preprocessing and AI-based machine learning to continuously decode a patient's movement intentions, links these to the operation modes and difficulty levels of rehabilitation equipment (such as treadmills), and induces neuroplasticity through visual avatar content and neurofeedback.

Conventional bottom-up rehabilitation training struggles to encourage active patient participation, and technologies focused on single-motion recognition cannot change training modes continuously, failing to provide the sensory-motor virtuous cycle required for chronic or paralyzed patients.

This technology implements a continuous movement intention recognition algorithm based on brain signals (applying wavelet transforms and AI models), a control unit for the speed and intensity of rehabilitation equipment using state transition diagrams (S1–S5), and an evaluation system that monitors the user's training status to provide feedback on appropriate training protocols and store them in a database. It can be applied to rehabilitation training, gait assistance, and medical/welfare services, improving rehabilitation by clearly recognizing the user's operational intent using brain signals and operating the rehabilitation training accordingly.

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Key Features:

• A user intention expression unit that operates the rehabilitation equipment and presents rehabilitation training content based on the user's movement intention recognized by the user movement intention decoding unit.
• A user movement intention decoding unit that recognizes the user's movement intention based on brain signal data processed by the brain signal acquisition and processing unit.
• A brain signal acquisition and processing unit that acquires and processes the user's brain signals using non-invasive brain activation measurement methods.
• A brain training simulation system based on imitation learning, characterized by providing neurofeedback to induce brain activity by presenting training speed visually or audibly through a monitor, which serves as a user monitoring device, in text or voice format.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of biosignal interface technology with over 90% gait intention detection accuracy for various gait rehabilitation of stroke patients, and application technology for overground gait rehabilitation robots.

Mobile Robot for Underground Structure Maintenance

This technology is a robot control system that calculates the distance and orientation error relative to the inner walls of underground structures using the rotation angles of rollers mounted around a radar module on a manipulator. Based on this data, it performs real-time adjustments to the manipulator's orientation and working distance to execute autonomous scanning and maintenance tasks.

Maintenance of underground structures has traditionally relied on manual operation, posing high safety risks. Furthermore, an aging workforce and a general avoidance of such labor-intensive jobs have led to decreased productivity and imbalances in labor supply.

This technology utilizes a manipulator equipped with a radar module, multiple rollers, and angle sensors to acquire physical contact data. It employs mathematical models to calculate orientation errors and distance correction values, while sensor-based obstacle avoidance and autonomous path planning allow it to process environmental data and operate independently. Applicable to robotic gripping, precision measurement, and automated equipment, this system removes workers from hazardous environments and enables robots to perform maintenance autonomously, thereby enhancing both efficiency and safety.

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Key Features:

• A distance measurement unit that calculates the distance between the manipulator and the target surface of the underground structure using the rotation angles of multiple rollers installed around a radar module mounted on an arm-type manipulator.
• An orientation correction unit that adjusts the manipulator's position to ensure the radar module remains parallel to the target surface of the underground structure.
• A control unit that analyzes scan results to determine if there is any water infiltration in the target area and transmits the findings to a management server.
• A mobile platform unit that adjusts its speed and direction of travel under the control of the control unit.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the commercialization of wall-penetrating radar-based box-type sewer pipe exterior water infiltration detection robots.