Linkage for Equilibrium Manipulators

This technology features a rod-shaped linkage made of elastic material (rubber or polypropylene) with annular hinge grooves that form joints. It enables 6-DOF position and orientation control through the elastic deformation of the material, eliminating the need for separate joint assemblies.

Conventional manipulator linkages consist of multiple joint assemblies (translational, universal, spherical), which lead to positional errors due to friction and vibration at each joint, as well as structural complexity that hinders precise miniaturization.

By molding the linkage itself from elastic materials like rubber or polypropylene and carving semi-circular hinge grooves at specific locations to induce bending and twisting, this technology eliminates physical friction and enables an ultra-precise, ultra-compact structure. It can be applied to industrial robots and automation systems, improving the precision and control of manipulators by reducing friction and structural limitations.

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Key Features:

• Rod-shaped elastic linkage connecting the end effector to the actuator
• One or more joints formed to rotatably support the linkage around its central axis
• Joints provide rotational support in response to actuator movement to change the position and orientation of the end effector
• Structure where the linkage bends and flexes via semi-circular hinge grooves embedded in the joints

Curling Robot

This technology utilizes a three-wheeled robot structure, featuring a pair of front wheels and a single rear wheel, to perform precise turns and changes in direction by calculating the steering angle of the rear wheel based on the kinematic geometry between the front and rear wheels.

It overcomes the limitations of conventional methods that rely on external guide lines or environmental data, enabling active and independent path control using the robot's own kinematic dimensions.

This technology establishes a kinematic triangular model that accounts for the distance between the center of the front wheels and the rear wheel, as well as the distance between the front wheels. By determining the rear wheel steering angle through mathematical formulas, it controls turning maneuvers by fixing the body's center of rotation to one of the front wheels. Applicable to industrial robots and automated systems, it improves the precision and efficiency of a curling robot's movement on ice by controlling its travel direction without external guidance.

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Key Features:

• A curling robot for throwing a stone, comprising a body
• A controller that determines the rotation angle of the body, using one of the pair of front wheels as the center of rotation, based on the rotation angle of the rear wheel relative to a virtual line connecting the center of the pair of front wheels and the rear wheel
• A curling robot that rotates the body by the determined rotation angle around the center of rotation while the body is in a stationary state.
• A pair of front wheels installed at the front of the body

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This invention was developed with support from the Ministry of Science and ICT for the development of AI curling robot technology capable of establishing game strategies and performing in matches.

Tracking Device

This technology is a mechanism for a mobile tracking device equipped with a positioning module containing multiple positioning nodes, an imaging module, and a sensor module. The device uses a controller to measure the distance to a target node, set a path, and sense obstacles and moving objects to perform path correction, stopping, and re-tracking. In particular, the positioning module calculates the target position through a node configuration of isosceles right triangles and squares, and uses a verification and correction algorithm based on combinations of three nodes.

Existing GPS-based indoor positioning suffers from low accuracy and signal distortion, as well as the inconvenience of having to pre-install positioning nodes throughout the entire area. Furthermore, there is a lack of safety due to the inability to respond to fixed obstacles or sudden moving objects encountered during real-time movement.

This technology utilizes four positioning nodes installed inside the mobile unit to dynamically calculate the distance to a target node. Based on data input from the imaging module and sensor module, the controller controls the real-time path (avoidance, stopping, and restarting). Specifically, it adopts a computational structure that combines three out of the multiple nodes to measure distance, while using the remaining nodes to verify and correct the data. It can be applied to rehabilitation training, gait assistance, and medical/welfare services, improving the accuracy of positioning the target object and enhancing environmental management capabilities by modifying the path based on obstacle detection.

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Key Features:

• A tracking device that verifies and corrects the measured distance at least once using three positioning nodes, including the remaining positioning nodes.
• A controller that receives data from the positioning module, imaging module, and sensor module to set the path and control the operation of the drive module.
• A sensor module that senses the front of the main body to detect moving objects between the target object and the main body.
• A tracking device for following a moving target object, comprising a drive module that moves the main body.

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This invention was developed with the support of the Ministry of Science and ICT's Real-time Indoor Wide-area Positioning Technology Development project.

Ultra-Precision Compact Parallel Robot Manipulator

This technology features a parallel robot manipulator structure that performs multi-degree-of-freedom position and orientation control. It consists of a frame with top and bottom plates and guide pins, housing piezoelectric motor-based actuators and slide plates that transmit translational motion to an end-effector via linkage units.

Conventional manipulators are difficult to miniaturize due to complex structures where actuators move along axes, and their structural complexity and large volume limit their commercial application in areas such as ultra-precision tasks or medical use.

This technology adopts a parallel kinematic structure where the rotational motion of a screw driven by an actuator (piezoelectric motor) fixed to the bottom plate is converted into translational motion via ball bearings to move the slide plate vertically. The linkage unit connected to the slide plate then drives the end-effector, resulting in a more compact device with improved precision. Applicable to industrial robots and automation systems, it enhances the miniaturization, precision, portability, and control capabilities of parallel robot manipulators.

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Key Features:

• Frame unit forming the exterior with top plate, bottom plate, and guide pins
• Multiple independently operated drive units coupled to the frame
• End-effector provided inside the frame unit, with a device mounted on its base
• Linkage units connecting the end-effector to the multiple drive units to control position and orientation

Multi-jointed Robot

This technology features multiple multi-jointed legs coupled to a main body, with friction pads at the base of each leg featuring grooves that provide anisotropic friction. Each leg consists of alternating joint units with a first joint axis and a second joint axis perpendicular to it. By aligning the grooves of the friction pads parallel to the connection direction, the robot mimics snake-like movement and enables multi-jointed walking functionality.

Wheeled robots are limited by road surface conditions, while conventional legged robots often struggle with mobility or maneuverability on rough terrain and suffer from reduced efficiency when utilizing multi-jointed structures.

This technology utilizes a hyper-redundant leg structure that mimics the biological movement of a snake, combined with anisotropic friction pads that induce varying levels of friction based on the direction of ground contact. By forming longitudinal grooves in the friction pads, the design minimizes interference during walking motions and enables terrain-adaptive maneuvering. Applicable to industrial robots and automation systems, this technology enhances robot mobility and adaptability in challenging terrains and environments.

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Key Features:

• A leg unit connected to a main body, comprising a first joint unit with a first joint axis and a second joint unit with a second joint axis perpendicular to the first joint axis.
• A leg unit comprising a first joint unit with a first joint axis and a second joint unit with a second joint axis perpendicular to the first joint axis.
• A friction pad unit that provides anisotropic friction to the leg unit.
• A multi-jointed robot where the first direction is parallel to the connection direction in which the first joint unit and the second joint unit are connected.

Collision Detection Sensor

This technology is a collision detection system that utilizes multiple capacitive sensors with varying measurement areas placed on a robot's surface to simultaneously perform wide-range proximity detection and precise position/gesture recognition.

Existing collaborative robots use high-output actuators, which pose a risk of collision accidents when working in close proximity to human operators. Consequently, there is a need for reliable and precise non-contact proximity sensing solutions to prevent such incidents.

This technology features a hybrid array of capacitive sensor groups with different measurement areas (first and second measurement areas) on the robot's link surface, with additional third-area sensors placed at the joints. By leveraging the differences in sensing range and resolution proportional to these areas, the system detects collisions and recognizes user gestures to trigger control actions. Applicable to robotic gripping, precision measurement, and automated equipment, it enhances the safety and reliability of collaborative robots by enabling rapid collision detection and gesture recognition for improved human-robot interaction.

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Key Features:

• A collision detection sensor for a robot, comprising a plurality of first capacitive measurement units arranged at regular intervals, and a plurality of second capacitive measurement units, with two or more of the second units disposed between the first units.
• A plurality of second capacitive measurement units disposed on the robot's surface, spaced apart from the first capacitive measurement units, and having a second measurement area different from the first measurement area of the first capacitive measurement units.
• A plurality of second capacitive measurement units having a second measurement area different from the first measurement area of the first capacitive measurement units.
• A plurality of first capacitive measurement units disposed on the surface of the robot.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of functional safety implementation technology based on international standards for robots operating in human-contact environments, as well as risk assessment and mitigation technology.

Gripper System

This technology is a gripper system mechanism that physically controls the coefficient of friction between the gripping surface and an object by forming a plurality of micro-channels on the gripping surface and supplying liquid through a fluid pump.

Conventional gripper systems rely solely on normal force control, which can cause deformation when gripping flexible objects. Furthermore, because the coefficient of friction is fixed as a constant value, there are limitations in precisely gripping objects of various materials and shapes.

This technology actively controls the contact area and frictional force by discharging liquid through a plurality of micro-channels formed on the gripping part, and adjusts the supply volume of the fluid pump and the gripping force of the drive unit in real time based on the object's state measured by force sensors. Applicable to logistics picking, service robots, and manufacturing automation, it improves precision control for gripping various materials and objects of different shapes by controlling friction through fluid and deformation control of the gripping part.

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Key Features:

• A gripper system for gripping an object, comprising a pair of gripping parts having gripping surfaces with a plurality of micro-channels formed therein, which come into contact with the object through the gripping surfaces.
• A control unit that controls a drive unit to have the pair of gripping parts grip an object, or controls a fluid pump to adjust the amount of liquid supplied to the gripping surfaces.
• A drive unit that operates the pair of gripping parts.
• A fluid pump connected to the plurality of micro-channels to supply liquid.

Microrobot for Drug Delivery

This technology features a mechanical system where a microrobot connected to a base rod uses an external magnetic field to move an internal magnetic linear actuator longitudinally to pressurize and release drugs, or deforms a magnetic absorption member to release the drug.

Conventional balloon catheters are difficult to use in micro-vessels due to the need for radial expansion space, and standalone microrobots are difficult to retrieve after drug release due to blood flow.

This technology utilizes a microrobot fixed to a base rod (catheter/guidewire). It releases drugs by pressurizing them via a magnetically driven linear actuator or by deforming a magnetic absorption member, while the base rod allows for precise positioning and retrieval of the robot. Applicable to surgical robots, interventional systems, and medical automation, it improves drug delivery to small blood vessels and enhances the safety of drug administration.

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Key Features:

• The drug reservoir is a linear actuator that moves along the longitudinal axis of the base rod in response to an external magnetic field.
• In a microrobot mounted on a base rod, a connection part is used to secure the robot to the base rod.
• A connection part that secures the robot to the base rod.
• A microrobot where the drug is pressurized and released by a longitudinally moving linear actuator.

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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.

Robot Joint Device

This technology is a joint structure that implements 6-degree-of-freedom motion between a first base and a second base based on a parallel mechanism, and calculates rotation angles and torque through a sensor unit that includes a rotation angle measurement component and an elastic component disposed on the rotation axis.

Conventional torque measurement methods require separate torque sensors, which complicates the device structure, increases manufacturing costs, and reduces the overall price competitiveness of the robot due to the use of expensive components.

This technology simplifies the structure by coaxially arranging a torsion spring (elastic component) and a rotation angle measurement component on the link rotation axis. By calculating the measured rotation angle and a predefined elastic coefficient in the control unit, it precisely measures joint torque without the need for a separate torque sensor. It can be applied to robot gripping, precision measurement, and automation equipment, providing a compact and cost-effective robot knuckle device for measuring rotation angles, linear displacement, and power or torque, thereby improving the accuracy and cost-efficiency of robot systems.

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Key Features:

• A robot joint device, wherein a plurality of sensor units each comprise a rotation angle measurement component for measuring the rotation angle of a rotor with respect to a rotation axis, and an elastic component for providing elastic force to a connecting member with respect to the rotation axis.
• A plurality of connecting members connecting the first base and the second base to enable 6-degree-of-freedom rotational movement of the second base relative to the first base
• A plurality of sensor units connected to each of the plurality of connecting members to measure the rotation angle of the rotor with respect to the rotation axis and the torque acting on the rotation axis
• A second base disposed spaced apart from the first base

Wearable Device for Lumbar Muscle Support

This technology provides assistive force by stacking multiple unit modules to track the multi-degree-of-freedom movements of the human spine, such as flexion, extension, and lateral bending, while controlling the tension of drive and auxiliary wires. By combining ball/universal joints in the articulation sections with the restorative force of elastic components, it achieves variable stiffness and assistive force tailored to the wearer's spinal movement.

Existing wearable muscle support devices often fail to fully accommodate the complex degrees of freedom of the spine (extension, flexion, lateral bending, rotation, etc.), resulting in limited support ranges and causing discomfort or restricted movement for the wearer.

This technology utilizes drive wires and left/right auxiliary wires that pass through multiple unit modules arranged along the spine, with a drive module that variably controls the tension of each wire. It provides lateral bending support through elastic components and optimizes muscle assistance for the wearer's movements by measuring and providing feedback on wire tension via pulley and spring encoders. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it provides a wearable device that offers high-degree-of-freedom muscle support, prevents lower back injuries, and reduces lumbar load, thereby improving comfort and transmission characteristics.

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Key Features:

• Auxiliary wires passing through the multiple unit modules along the spinal direction on the left and right sides of the modules
• A drive module that operates the drive wire to generate and adjust the tension of the drive wire
• A spinal module comprising a plurality of unit modules arranged along the spinal direction
• A drive wire passing through the center of the plurality of unit modules along the spinal direction

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of international standard-based functional safety implementation technology and risk assessment/reduction technology for robots operating in human-contact environments.

Magneto-Acoustic System for Microrobot Steering

This technology utilizes an acoustic generator installed on an external base to create pressure differences from standing waves within a fluid medium, focusing multiple microrobots into a specific point to form a swarm. A magnetic field generator then creates a field to steer and move the swarm to a target location.

Using a single microrobot makes efficient drug delivery difficult due to limited storage capacity, and moving individual robots is time-consuming and costly.

This technology is a magneto-acoustic steering system and method that forms a microrobot swarm by applying sound waves to the fluid medium inside an object using multiple acoustic elements placed on a base, and then controls a magnetic field generator to stably guide the swarm to a target point. It can be applied to industrial robots and automated systems, improving drug delivery capacity and the steering of multiple microrobots.

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Key Features:

• A magnetic field generator installed on the base that creates a magnetic field within the object.
• An acoustic generator installed on the base that transmits sound waves into the object.
• A magneto-acoustic system for microrobot steering that uses the pressure difference at the nodes of superimposed standing sound waves to focus multiple microrobots.
• Multiple microrobots injected into the object.

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This invention was developed with support from the Ministry of Science and ICT for the Intelligent Microrobot-based Body-on-a-Chip for Precision Medicine project.

Method for Measuring the Pose of a Microrobot

This technology measures the pose of a microrobot using image processing and marker-based coordinate tracking. It separates the microrobot from noise in captured images through differential imaging, color binarization, and size comparison, overlays a marker onto the robot, and calculates the robot's pose by determining the coordinates of color boundary points.

When microrobots are inserted into the human body, noise from light scattering, body tissues, and blood vessel walls occurs during image acquisition. Conventional technologies, which directly recognize markings on the microrobot's surface, suffer from frequent recognition errors and low pose measurement accuracy due to this noise.

This technology consists of a preprocessing step to identify the microrobot by separating it from noise, a step to virtually display a marker that intersects the robot's outline based on the identified geometric information, and a step to calculate the robot's pose by analyzing the boundary coordinates of binarized colors (first and second colors) on the marker. Applicable to robot gripping, precision measurement, and automated equipment, it improves the accuracy of microrobot pose measurement in noisy environments, thereby enhancing measurement reliability and enabling precise measurement.

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Key Features:

• A step of displaying a marker on the recognized microrobot in the captured image that intersects the microrobot's outline, with a diameter larger than the width of the recognized microrobot and smaller than its length.
• A step of binarizing colors such that among a plurality of points, those located outside the microrobot have a first color, and those located inside the microrobot have a second color.
• A step of recognizing the microrobot by distinguishing it from noise in the captured image.
• A step of displaying a plurality of points on the displayed marker.

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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.

Method for Generating Intersection Pattern Recognition Models Using Mobile Robot Sensor Data and Intersection Pattern Recognition System

This technology is a control mechanism that recognizes intersection patterns and determines the absolute position of a mobile robot by converting pre-established guide lines or structural data into a grid-based path map and training a normalized virtual map alongside sensor data, without the need for additional landmark installations.

Conventional technologies require landmark sensors at every intersection to estimate a mobile robot's position, leading to high installation costs, a lack of flexibility when environmental changes necessitate reinstallation, and difficulties in maintaining real-time performance due to increased data transmission volume when operating multiple robots.

This technology generates a path map based on usage environment information within a management server, creates a virtual map normalized so that the distance between intersections is an integer multiple of a unit length, and provides the robot with a model that classifies and recognizes 'L', 'T', and '+' shaped intersection patterns by training this data with sensor data. It can be applied to logistics transport, service robots, and autonomous driving platforms, enabling real-time movement control of mobile robots without separate landmark sensors, thereby improving the efficiency and cost-effectiveness of such physical distribution systems.

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Key Features:

• A training unit that generates an intersection pattern recognition model using virtual maps and mobile robot sensor data as training data.
• A map generation unit where the management server receives usage environment information for the mobile robot and generates a path map based on that information.
• A normalization unit that generates a virtual map by normalizing the path map according to pre-set rules.
• An intersection pattern recognition system using mobile robot sensor data, wherein the path map consists of a grid-based map, and the normalization unit generates the virtual map by normalizing the path map so that the distance between intersections is an integer multiple of a unit length.

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This invention was developed with the support of the Ministry of Science and ICT's AI-based Anti-Drone Active Control Technology Development project.

Microrobot for Guidewire Steering

This technology features a microrobot structure and a guidewire steering mechanism where a flexible first magnetic body bends at varying angles and changes its stiffness in response to the direction and intensity of an external magnetic field.

Conventional guidewires have limited steering ranges, which can lead to buckling during navigation through blood vessels, causing vascular damage. Furthermore, the frequent need to replace guidewires based on the hardness of thrombi reduces procedural efficiency and increases the risk of vessel injury.

This technology utilizes a flexible first magnetic body (polymer and magnetic powder) and a rigid second magnetic body arranged in series at the tip of the guidewire. By applying an external magnetic field, the bending angle of the first magnetic body is precisely controlled, and the stiffness of the microrobot is adjusted by varying the magnetic field intensity, thereby ensuring superior guidewire steerability. Applicable to industrial robots and automated systems, this technology enables precise guidewire control and prevents vascular damage, significantly improving navigation and safety in medical procedures.

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Key Features:

• A first magnetic body mounted on the guidewire that bends at different angles according to changes in the direction of an external magnetic field
• A second magnetic body, less flexible than the first, positioned in one direction from the first magnetic body
• A configuration where the first magnetic body is mounted to surround the tip of the guidewire
• A biocompatible tube made of biocompatible material that surrounds portions of the first and second magnetic bodies

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

Microrobot for Guidewire Steering

This technology features a mechanism where one or more magnetic elements are placed inside a flexible body, which is connected to a guidewire via an elastic component. When an external magnetic field is applied, the microrobot bends, thereby improving the steerability of the guidewire.

Conventional guidewires have fixed shapes and angles, requiring high levels of skill for navigation through complex blood vessels. This leads to longer procedure times, increasing radiation exposure for both physicians and patients.

This technology utilizes a flexible body and an elastic connection, with at least one magnetic element embedded within the body to allow it to bend in response to an external magnetic field. Specifically, by placing a primary magnetic element at the distal end and setting the body length to at least three times the length of the magnetic element, the steering angle is maximized. Applicable to industrial robots and automated systems, this technology reduces surgical time and minimizes radiation exposure for patients and medical professionals, ultimately improving the precision and efficiency of vascular treatments.

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Key Features:

• A microrobot mounted on a guidewire, comprising a body portion that extends along the longitudinal direction of the guidewire and includes a flexible material to allow for lateral bending.
• An elastic portion connecting the guidewire to one end of the body portion, such that the distal end of the guidewire is positioned toward one end of the body portion.
• A body portion including a flexible material to allow for lateral bending of the guidewire.
• An elastic portion connecting the guidewire to one end of the body portion.

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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.