Detachable Modular Universal Gripper Device

This technology separates the gripping unit from the electronic control module and utilizes a spring pin and conductive plate contact structure between modules to ensure versatility in robot server interfacing and control signal connectivity.

Conventional grippers have fixed specifications and functions, making it difficult to adapt to diverse working environments or different robot arm communication protocols, and they suffer from inefficiencies requiring the replacement of the entire unit during maintenance.

This technology features a design where the jaw module and drive module are detachable within the housing, and the electronic module that communicates with external robot servers is implemented as a separate, detachable structure. In particular, the use of spring pins and conductive plates allows for automatic electrical connection upon mechanical coupling, enhancing the convenience of module replacement. Applicable to logistics picking, service robots, and manufacturing automation, it improves adaptability to various working environments and maximizes operational flexibility by defining the gripper's configuration through individual modules.

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Key Features:

• A detachable modular universal gripper device where the conductive plate is a metal plate capable of conducting electricity that contacts the spring pins in a 1:1 ratio.
• The electronic module includes a robot server interface unit for inputting and outputting first signals to and from external devices.
• A drive module control unit for inputting and outputting power or second signals to the drive module.
• A power transmission unit that transfers the rotational force of the motor unit to the driving force of the jaw module.

Robotic Gripper with Vision-Tactile Sensor Capturing Tensegrity Matrix Deformation

This technology is a vision-tactile sensor utilizing a tensegrity structure. It acquires physical information about an object by visually capturing the deformation of a matrix plane—composed of multiple contact points connected by tension members—in response to external pressure. A mirror and camera inside the sensor record the geometric changes of the plane, which are then analyzed by a processor to determine the object's gripping state and shape.

Conventional grippers rely heavily on external cameras, requiring additional space and struggling to accurately recognize complex shapes. They also have limitations in real-time detection of subtle contact information or anomalies during the gripping process.

This technology implements a tensegrity-based vision-tactile sensor mounted on the joints of a gripper finger. An internal camera captures the deformation of the matrix-arranged contact points upon contact with an object, and a processor calculates the position, posture, and orientation of these points to recognize the object and adjust finger movement. Applicable to logistics picking, precision assembly, and service robots, it enhances 3D shape estimation accuracy by providing real-time contact information at the moment of grasping.

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Key Features:

• Vision-tactile sensor comprising a main housing with a bottom opening and a tensegrity plane installed within the opening
• Multiple contact points arranged in a matrix structure forming the tensegrity plane to detect object contact
• Tension members connecting at least two of the multiple contact points to form the tensegrity structure
• Tensegrity plane that changes shape as the position, posture, and orientation of the contact points shift upon contact with an object

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This invention was developed with support from the 2022 Regional Industry-Linked University Open-Lab Promotion Program funded by the Ministry of Science and ICT.

Robot gripper with surface-adaptive capability using vacuum suction modules and wire tension control

This technology is a robot gripper mechanism that connects vacuum suction modules via a chain-structured linkage arm and adapts to the surface shape of an object by adjusting the arm's configuration through a wire tension control unit.

In environments such as logistics terminals where the shape, material, and volume of objects are not standardized, fixed-form grippers have struggled to provide stable grasping.

This technology features a structure that varies the gripper's shape to fit an object's surface by controlling the curvature of the arm using multiple gripping modules, chain-structured connecting links, wires, winding rollers, and sliding tension-adjusting pulleys. It can be applied to logistics picking, service robots, and manufacturing automation, allowing for the stable grasping of various objects with different specifications without the need for gripper changes.

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Key Features:

• A first upper wire guide member provided in a tube structure, coupled to the top of one of the plurality of first connecting links and having a hole penetrating in the front-to-back direction
• A surface-adaptive robot gripper including a first lower wire guide member provided in a tube structure with a hole penetrating in the front-to-back direction.
• A first adaptive gripping module positioned in front of the main gripping module, designed to suction and grasp objects using negative pressure
• The first connecting arm consists of a plurality of first connecting links connected in a chain structure

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This invention was developed with support from the Ministry of Science and ICT for the development of core robot work intelligence technologies to improve labor environments.

Curling Robot

This technology is a feedback control mechanism for wheeled robots with independently driven left and right wheels. It calculates real-time angular velocity and the rate of change in distance from a side guide using gyro and distance sensors, adjusting the wheel rotation differential to calibrate straight-line driving performance.

For robots that throw curling stones, straight-line driving performance prior to release directly impacts the outcome. Existing technologies lack the control techniques necessary to precisely correct the driving direction in real-time when disturbances occur, making precision throws difficult.

This technology measures real-time angular velocity and the rate of change in distance from the guide during operation, correcting the robot's path by rotating it in the opposite direction whenever these values deviate from zero. Furthermore, it applies an interpolation control algorithm that maintains a straight path by rotating the robot and then counter-rotating it in a second direction once the rotation angle and distance change rate reach zero. Applicable to logistics transport, service robots, and autonomous driving platforms, this technology enhances the forward driving performance of curling robots by controlling forward movement through various sensors.

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Key Features:

• Configuration including wheels and sensors positioned on the left and right sides of the curling robot
• Processor that drives the wheels and performs real-time feedback control based on input straight-line speed and angular velocity
• Control configuration that calculates the rate of change in distance by measuring the distance between the robot and the guide in real-time
• Control method that rotates the robot by driving the left and right wheels in opposite directions to bring the distance change rate to zero

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This invention was developed with support for the development of AI robot technology capable of collecting game strategies and executing game performance, funded by the Ministry of Science, ICT and Future Planning.

Tactile Detection Device and Method

This technology is a device and method that uses a multi-array tactile sensor to scan the surface of a medium through tapping and rubbing motions, mapping multi-channel time-series signals with positional coordinates to classify the physical properties (hardness, roughness) of single or complex media.

Existing technologies are designed primarily to distinguish tactile sensations over fixed durations or to identify single media, which limits their ability to recognize tactile inputs occurring at arbitrary times or to perceive specific spatial information for objects composed of complex media.

This technology receives real-time n*m data from a multi-array tactile sensor, performs first and second actions—tapping (for hardness measurement) and rubbing (for roughness measurement)—and maps the acquired positional information and tactile signals to spatially distinguish and classify multiple media regions. Applicable to robotic grasping, precision measurement, and automated equipment, it improves the classification of tactile input signals by accounting for spatial information and categorizing the tactile properties of multiple media.

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Key Features:

• A tactile input receiver that scans the surface of a medium using a multi-array tactile sensor composed of n*m sensors (where n and m are arbitrary natural numbers) to receive the positional coordinates of the n*m sensors and their corresponding tactile input signals in real time.
• A tactile signal detector that determines a tactile input exists when the value of the tactile input signal exceeds a preset threshold and detects the specific location on the medium's surface where the input occurred.
• A tactile classifier that, upon determining the existence of a tactile input, categorizes and outputs the input based on pre-learned thresholds for each medium.
• A tactile detection device characterized by outputting the regions of each medium such that they are spatially distinguished.

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This invention was developed with support from Samsung Electronics for the development of cognitive tactile sensors.

Sewer Pipe Repair Robot

This technology is a robot system for sewer pipe repair that features a modular design, separating the autonomous and remotely controlled mobile platform from the towed work platform.

Conventional drum-type chipping tools are difficult to assemble and install inside sewer pipes, and they face limitations in terms of work efficiency and cost-effectiveness.

This technology utilizes a crane-type work platform equipped with a pneumatic rock drill, separated from the mobile platform, and performs chipping operations through crawler-based movement and precision control. It can be applied to logistics, service robots, and autonomous driving platforms, thereby improving work productivity, addressing labor supply imbalances, and enhancing cost-efficiency in sewer pipe repair operations.

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Key Features:

• A control unit that is electrically connected to the mobile platform, work platform, and chipping tool, and controls these components based on preset control signals and control signals generated from detection signals sensed during operation.
• A work platform provided on the upper side of the towing base, which rotates selectively to direct one end toward the target work area, either autonomously or via operator control, based on preset work path information.
• A servo cylinder coupled at its center to the top of the rotation support via a coupling shaft, which rotates on a horizontal axis relative to the coupling shaft and selectively extends or retracts the length of one end.
• A chipping tool provided at one end of the work platform that performs chipping on the target work area, either autonomously or via operator control, based on preset work path information.

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This invention was developed with the support of the Ministry of Science and ICT for the commercialization of reinforced concrete chipping robots for the automation of box-type sewer pipe maintenance.

Variable Axis Joint Device with Self-Alignment via Tensegrity Strings and Leg-Roller Sliding

This technology features a joint assembly composed of multiple independently rotatable frames, connected by a tensegrity-structured string system and a leg-roller-based sliding mechanism to achieve self-aligning joint movement with a variable axis of rotation.

Conventional rigid-body joints have fixed axes of rotation, making it difficult to replicate the complex combination of rotation and sliding found in human joints. They also suffer from issues such as user discomfort due to a lack of flexibility under external impact, mechanical wear from friction, and weight burdens during prolonged wear.

This technology maintains force equilibrium through the sliding movement of connecting legs and the tensegrity structure of the string members. This ensures rotational flexibility in yaw, roll, and pitch directions while minimizing friction and wear through a non-contact frame structure. It is ideal for wearable robots, rehabilitation aids, and exoskeleton systems, as it naturally mimics human joint movement and reduces the burden on the wearer.

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Key Features:

• Upper and lower mounts that are attached to adjacent body parts around the joint and spaced apart from each other
• A joint assembly that connects the upper and lower mounts and includes a plurality of sequentially arranged frames
• First through fourth string members configured to connect adjacent frames to form a tensegrity structure
• A string connection unit including a first point where the first and second string members are connected, and a second point where the third and fourth string members are connected

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a 50Nm/kg high-torque-to-weight ratio low-voltage drive module series for wearable robots.

Automated Parcel Loading System Combining Multi-Sided Damage Inspection and Loading Posture Optimization

This technology is an automated sorting and loading system that analyzes the multi-sided damage status and location of parcels via primary and secondary inspection units during transport. The loading robot then optimizes the loading posture based on the size and location of the damaged area or applies a protective cover to ensure stable stacking.

The surge in parcel volume has led to limitations in manual sorting, structural instability when stacking damaged boxes, and inefficient space utilization and secondary accidents caused by the stacking of various non-standardized boxes.

This technology calculates the size and location of damaged areas by inspecting the top, bottom, and sides of the transport path, and controls the robot to place the least damaged side facing downward or to minimize vertical overlap between damaged areas. Additionally, it automatically places a protective cover on top of damaged boxes to ensure stacking stability. Applicable to logistics sorting, parcel automation, and smart logistics centers, it enables the stable stacking of damaged boxes while increasing space efficiency and safety.

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Key Features:

• A transport unit that moves parcel boxes in one direction and a loading robot that grips and repositions the transported boxes
• A first inspection unit located above the transport path to inspect the first side of the moving parcel box
• A second inspection unit that inspects the second side, which faces the first side, after the parcel box has been repositioned by the loading robot
• A control unit that compares the size of the damaged areas based on inspection data to determine the loading posture, ensuring the side with the least damage faces downward

Sewer Pipe Repair Device

This technology is a repair device designed to reduce vibration and reaction forces during the chipping process of sewer pipe repair robots. It utilizes a passive compliance mechanism with buffer springs placed on both sides of a linear motion block equipped with a pneumatic rock drill, and controls the workload through displacement and reaction force sensors.

Conventional drum-type chipping tools have faced challenges such as difficulty in installation within box-shaped sewer pipes, damage to structures and equipment due to vibration and reaction forces, and increased operator fatigue and reduced control efficiency during remote operation.

This technology establishes a hardware structure that absorbs vibration by combining a linear motion block reciprocating on a linear guide with buffer springs. It features displacement and force sensors for real-time measurement of reaction forces, and uses a rotary support and servo cylinder to precisely control the work area. Applicable to robot gripping, precision measurement, and automated equipment, it enhances the durability of both the work platform and the chipping tools by reducing vibration and reaction forces.

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Key Features:

• A displacement sensor positioned between a pair of linear guides on the top surface of the base block, which measures the displacement of the linear motion block when the pneumatic rock drill is in operation.
• A linear motion block coupled to a pair of linear guides, configured to move in a linear reciprocating motion along the guides.
• A chipping tool including a plurality of buffer springs provided on both sides of the linear motion block to suppress vibrations generated in the linear motion block when the pneumatic rock drill is in operation.
• A work platform that rotates selectively so that one end faces the target work area, either autonomously or via operator control, based on pre-set work trajectory information.

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This invention was developed with the support of the Ministry of Science and ICT for the commercialization of reinforced concrete chipping robots for the automation of box-shaped sewer pipe maintenance.

Microrobots for Hyperthermia Therapy and Drug Delivery

This technology features a control mechanism that generates heat through the Neel relaxation of magnetic materials when an external magnetic field is applied. It induces a phase change in a microrobot base made of temperature-sensitive materials, allowing for the targeted release of encapsulated therapeutic agents.

Conventional magnetic nanoparticle methods suffer from low therapeutic efficiency due to loss within blood vessels before reaching the target, and they can cause side effects by generating heat in unintended areas.

This technology utilizes a structural device composed of a first base with a non-melting scaffold structure and a second base that melts at a specific temperature. By controlling the frequency of an external magnetic field, the base is heated and melted, releasing the therapeutic agent through the voids in the scaffold structure. Applicable to industrial robots and automated systems, this approach prevents the loss of magnetic nanoparticles and controls drug release, thereby improving hyperthermia efficiency and minimizing side effects.

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Key Features:

• A microrobot base containing magnetic materials that generate heat up to a preset temperature when exposed to an external magnetic field.
• A first microrobot base that maintains a scaffold structure without melting at the preset temperature.
• A second microrobot base that melts at the preset temperature to fill the scaffold structure.
• A structure where the therapeutic agent enclosed in the first base is released through the voids of the scaffold once the second base melts.

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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.

Modular Microrobots

This technology implements a magnetic-based detachable docking system that allows a single transport module to individually carry multiple cargo units. By controlling the rotation direction of an external magnetic field, the assembly bar of the transport module can be selectively inserted into or withdrawn from the through-hole of the cargo microrobot.

Conventional microrobots are manufactured as independent, single-unit structures, which creates inefficiencies as each robot must be injected into the human body separately to deliver multiple different drugs or cells.

This technology features a cargo microrobot designed with a through-hole and an assembly guide, paired with a transport module equipped with an assembly bar and docking bar that can rotate and enter via an external magnetic field. This automates physical assembly and disassembly simply by changing the direction of the rotating magnetic field. Applicable to surgical robots, interventional systems, and medical automation, it improves the control of drug or cell concentration and dosage through the delivery of modular microrobots.

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Key Features:

• Cargo microrobot featuring a through-hole and an assembly guide formed by the bottom surface and inclined side surfaces surrounding it
• Transport module that assembles with and disassembles from the cargo microrobot via an external magnetic field for in-body transport
• Transport module includes an assembly bar that enters the through-hole and an assembly docking bar oriented perpendicularly
• Transport module includes a rotating unit that determines the direction of transport via an external magnetic field

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

Gripper device with adjustable gripping position using a crank-piston mechanism and a single motor

This technology is a manipulator end-effector that uses a single drive motor based on a crank-piston mechanism to interlock a pair of gripper fingers and adjusts the rod elevation height to control the gripping position according to the size of the object.

Existing link and parallel-type grippers require multiple motors for individual finger actuation, leading to complex configurations, unsuitability for high-speed operation, and limited work efficiency.

This technology features a rod mechanism that moves up and down by receiving rotational force from a crankshaft through an opening in a support plate. It performs gripping by absorbing and guiding the reaction force generated during object contact through the elastic body and bracket structure of the finger guide. By controlling the motor to adjust the rod's elevation height, it adapts to various object sizes. Applicable to logistics picking, manufacturing automation, and service robots, it enables high-speed gripping of objects of various sizes using only a single motor.

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Key Features:

• A finger guide unit that directs the retraction of the first and second fingers caused by the pressure exerted on the object during the gripping process.
• Includes a support plate that supports the finger guide unit, with an opening formed in the section between the first and second fingers, and a crankshaft coupled to the support plate.
• A gripper device including a first rod that couples with the crankshaft, with its upper end moving up and down through the opening into the space between the first and second fingers as the crankshaft rotates.
• A second finger positioned to face the first finger at a predetermined distance, gripping the object together with the first finger in the space between them.

Remote-operated medical tool mount with sensor-based height measurement and parallel mechanism for automatic alignment

This technology uses sensors to measure the relative height between a patient's chin rest and a medical tool-operating robot. It then drives a parallel mechanism to automatically align the robot's initial position and orientation, enabling precise tool control during remote medical procedures.

Treating respiratory infectious diseases poses a risk of infection to medical staff due to direct contact, and the repetitive use of various medical tools leads to significant physical and mental fatigue.

This technology utilizes a parallel mechanism based on multiple parallelogram links capable of 3-DOF translational motion and 1-DOF pitch rotation. It establishes an automatic alignment system through sensor feedback that controls the height of the patient's chin rest and the robot's end-effector. Applicable to remote consultations, telesurgery, and medical automation, it reduces infection risks and fatigue for medical staff while ensuring high precision in tool control.

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Key Features:

• Includes a sensor unit installed at the end of the medical tool-operating robot, featuring a first sensor that detects the height of the chin rest.
• A patient chair equipped with a chin rest that secures the face of the patient facing the medical tool-operating robot.
• A remote medical tool control system in which the initial posture of the medical tool-operating robot is automatically aligned by a parallel mechanism.
• A medical tool-operating robot mounted on and synchronized with the operation of the drive mount.

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This invention was developed with support from the Ministry of Education's project for UX design-based AI healthcare robot systems for remote diagnosis and treatment.

Wearable robot garment adjustable to the wearer's body size and wearable robot garment for knee strength assistance

This technology is a wearable robot garment for body joints (such as the knee), featuring detachable adjustment units and outer shell anchors on the exterior of the garment to optimize wire routing and length according to the user's body size.

Differences in body size among users make it difficult to determine the optimal attachment points and lengths for wires, and the use of excessive straps and adjustment devices to compensate often leads to reduced comfort.

This technology utilizes detachable adjustment units on the exterior of the garment and outer shell anchors through which the wires pass to adjust the physical position of the wire ends. By connecting a second wire from the front of the knee, around the side, to the rear calf, it ensures ease of wear. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it improves user comfort by controlling the wire and the end of the outer wire cover while the garment is worn.

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Key Features:

• A first adjustment unit that is detachably coupled to the exterior of the garment so that it is positioned in front of the knee when the garment is worn, and to which one end of the first wire is coupled
• A drive unit to which the other ends of the first and second wires are coupled, capable of providing power to the first and second wires
• In a wearable robot garment used to assist knee strength, a first wire
• A garment worn on the knee starting from the front of the knee to assist with knee strength

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

Tool Changer for Robots

This technology is a tool changer mechanism that performs the coupling and decoupling of a robot arm and a tool. It features a structure where the master unit's grab bracket and the slave unit's hook bracket are engaged, and a driving member within the slave unit controls locking by inducing linear and rotational movement in the link member and shaft bracket member.

Conventional tool changers require separate interface plates for the master and the tool, are difficult to maintain due to complex coupling mechanisms, and suffer from operational limitations because they do not allow for flexible switching between automatic and manual modes.

This technology separates the slave unit into a first housing (base coupling part) and a second housing (drive module part), allowing for switching between automatic and manual coupling modes based on the attachment or detachment of the second housing. It also simplifies the structure through an internal linear-to-rotational motion conversion link mechanism. Applicable to industrial robots and automation systems, it improves the structure of tool changers, facilitates maintenance, and simplifies the attachment/detachment process.

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Key Features:

• A hook bracket member disposed within the first housing member, connected to the shaft bracket member, and configured to rotate in response to the linear movement of the shaft bracket member.
• A driving member disposed within the second housing member, providing the power required to couple or decouple the master unit and the slave unit.
• A shaft bracket member disposed within the first housing member, configured to move linearly in response to the operation of the driving member.
• A link member with one end connected to the shaft bracket member and the other end connected to the hook bracket member.

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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 end-effectors for rescue robots.