Robot arm with disk-link wire bending and interchangeable grippers for micro-manipulation

This technology is a robot arm control system designed for obstacle avoidance and micro-manipulation, featuring a flexible link section where multiple disks are connected by link wires, and a gripper opening/closing mechanism driven by wire tension.

Conventional rigid-link robot arms have limited workspaces, struggle to avoid obstacles in confined areas, and are restricted in their ability to grasp objects of various sizes due to the use of integrated grippers.

This technology features a design where disks with opposing convex surfaces are connected by link wires to allow for bending, a sliding groove within the gripper for detachable connection to the link section, and variable control of the gripper opening width through wire tension adjustment.

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Key Features:

• A link section configured to be bendable, with at least one or more disks connected by link wires
• A gripper section including a gripper drive unit provided at one end of the link section to handle targets and adjust the width of the opening
• A control unit that manages the link wires to rotate the disks, thereby controlling the bending of the entire link section
• A gripper with a sliding groove that receives a sliding protrusion from the link section, allowing for replacement with different grippers

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Robot control device for imitating human behavior using artificial neural networks and inverse kinematics

This technology is a behavior imitation control system that converts human joint angle data into robot joint angle data using an artificial neural network (based on fully connected layers). It uses a 6D vector, which combines the roll, pitch, and yaw data of two human joints, as input data to predict control values for robot joints with different degrees of freedom.

Due to differences in physical structure and degrees of freedom between humans and robots like humanoids, traditional geometric inverse kinematics methods require complex calculations, struggle to produce accurate results, and suffer from reduced computational efficiency because a separate neural network must be built for each individual joint.

This technology generates 6D input data by combining 6-axis angle information from specific joint pairs in human behavior data. It then outputs robot joint angle data directly through a fully connected artificial neural network configured in 6-6-12-J units, enabling behavior imitation without the need for complex inverse kinematics calculations.

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Key Features:

• A storage unit that stores human behavior data consisting of human joint positions and the lines connecting them to form a human figure.
• An input data generation unit that creates input data by combining the relative angles of multiple human joints from the human behavior data.
• A behavior prediction unit that outputs robot joint angles by inputting data into an artificial neural network trained with human behavior data and robot behavior ground truth data constructed via inverse kinematics.
• A control unit that manages robot behavior using the outputted robot joint angle data.

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Map-generating robot that determines the next exploration point by comparing boundary point groups

This technology is a map generation algorithm that optimizes exploration efficiency by segmenting a generated 2D map, grouping boundary points between scanned and unscanned areas, and assigning movement priorities within the current segment.

Existing mobile robots often suffer from inefficiencies, such as repeatedly traversing the same areas or unnecessarily increasing travel distance, because they dynamically adjust their paths based solely on nearby boundary points.

This technology applies a positioning logic that divides a 2D map into segments and groups boundary points, prioritizing the exploration of boundary point groups within the current segment and only setting a path to another segment when no boundary points remain in the current area.

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Key Features:

• A scanning unit that scans the surrounding space from a first position, and a map generation unit that creates a 2D map of the surrounding space based on the scan results.
• A map segmentation unit that divides the generated 2D map into a plurality of segment areas.
• A boundary point detection unit that detects and groups boundary points between scanned and unscanned areas to generate a plurality of boundary point groups.
• A movement positioning unit that compares boundary point groups to determine a second position for the mobile robot to move to.

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Steering system for four-wheel drive using belt-connected drive and steering linkages

This technology is a four-wheel drive and steering system utilizing two motors (left and right). By using belts, bevel gears, and steering linkages, it reduces the number of motors required while enabling synchronized driving and steering for both front and rear wheels.

Conventional four-wheel robots typically place a motor at each wheel, which complicates control, increases manufacturing costs, and adds structural complexity due to link-based steering mechanisms.

This technology connects the front and rear drive units with a belt to transmit power from a single drive motor to all wheels, and implements a mechanical structure that controls left and right steering through a combination of spur gears and bevel gears connected to a steering motor.

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Key Features:

• A pair of front-wheel drive units located at the front of the robot to drive and steer the front wheels
• A pair of rear-wheel drive units located at the rear of the robot to drive and steer the rear wheels
• A belt equipped with multiple gear teeth that connects the front and rear drive units to transmit driving force
• A base frame that supports the front and rear drive units, steering linkages, spur gears, bevel gears, steering motor, and drive motor

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Shape-Adaptive Gripper Using Individual Pressure Control for Multi-Jamming Chambers

This technology is a multi-chamber gripper device and gripping method that utilizes first to third chambers with individual pressure control and a jamming phenomenon to flexibly adapt to an object's shape and secure gripping force by forming a vacuum.

Conventional suction-based grippers are effective for picking up flat objects but have limitations in stably gripping objects with three-dimensional shapes or irregular surfaces.

This technology fills internal and external jamming chambers made of flexible material with jamming particles and independently controls the internal pressure of each chamber via a pressure regulator and flow paths, allowing the gripper to change its shape to match the target object for a secure, close-contact grip. It can be applied to logistics sorting, food packaging, and handling irregular parts, enabling a single gripper to stably handle a variety of shapes.

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Key Features:

• A gripper base with an open-bottom first space and a flexible barrier that seals the first space
• A flexible internal jamming chamber filled with jamming particles, forming a second space separated from the first space at the bottom
• An external jamming chamber that surrounds a portion of the internal jamming chamber to form a third space and is filled with jamming particles
• A pressure control unit configured to individually regulate the pressure of the first, second, and third spaces

Mobile anchor robot secured to a rope via tension-adjusting roller pressure

This technology is a mobile anchor robot that features a caterpillar-based drive unit capable of traveling along a rope. It utilizes a tension-adjusting roller connected via a linkage mechanism, with a link drive unit that controls the relative position of the roller to apply tension to the rope, thereby firmly securing the robot at a specific point.

Existing rope-traveling robots offer excellent mobility but lack the ability to remain stably stationary on a rope without swaying, and they often suffer from reduced stability when carrying heavy loads.

This technology incorporates tension-adjusting rollers at the front and rear of the drive body, using multi-jointed links to press the rollers against the rope, which maximizes friction between the caterpillar tracks and the rope. It can be applied to building exterior maintenance, high-altitude facility inspections, and industrial rope access work, providing stable, sway-free anchoring during operations.

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Key Features:

• A drive body with caterpillar tracks for traveling along a rope, and tension-adjusting rollers positioned at the front and rear
• A pair of tension-adjusting rollers arranged to face each other across the rope to apply tension
• A linkage unit that connects the drive body to the tension-adjusting rollers and includes a first pivot axis
• A link drive unit that operates the linkage unit to change the relative positions of the tension-adjusting rollers

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This invention was developed with support from the Ministry of Science and ICT for the development of a robot platform capable of free movement on various types of exterior walls.

Self-Learning Based Control Method for Cleaning Robots

This technology uses a camera to identify target substances on the floor and operates a learning mode that adjusts speed and suction intensity compared to the normal mode to determine the threshold speed and suction intensity required to remove specific substances. It is an algorithm that automatically switches to an optimized calibration mode when the same substance is detected, thereby controlling cleaning efficiency.

Existing cleaning robots operate at a constant speed and suction intensity without considering the environment or the characteristics of specific substances, leading to residual debris and reduced energy efficiency.

This technology applies a control logic that extracts threshold values by sequentially performing a normal mode and a learning mode (variable speed/intensity) during the Nth cleaning cycle, and dynamically switches to a calibration mode suitable for the target substance identified by the camera during the N+1th cleaning cycle. Applicable to industrial robots and automation systems, it improves cleaning efficiency and optimizes operation by learning the optimal movement speed and suction intensity for different target materials through unsupervised learning.

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Key Features:

• A step of operating a camera-equipped cleaning robot under normal mode conditions with a reference speed or reference suction intensity for a first set time during an Nth cleaning process.
• A step of applying learning mode conditions to the cleaning robot, which gradually vary the speed or increase the intensity compared to the normal mode conditions, and operating it for a second set time.
• A step of extracting the threshold speed or threshold suction intensity at which a target substance that was not removed during the first set time begins to be removed, and acquiring a calibration mode containing the extracted information.
• A self-learning based control method for a cleaning robot, comprising a step of switching to and operating in the calibration mode acquired during the Nth cleaning process when a target substance of the same type as the previously identified target substance is detected by the camera.

3D Irradiation Device

This technology features a structure where multiple link members and drive members are arranged along a concentric spherical trajectory centered on a target point. Multiple robotic arms rotate independently and without interference to precisely control the irradiation angle of the emission member toward the same target point.

Existing robot-based irradiation devices suffer from low aiming precision, excessive drive components that increase overall weight, difficulty in achieving a compact design, and interference issues when using multiple robotic arms.

This technology utilizes relative movement control between the cradle and the robotic arms, a concentric spherical design where the rotation axes of multiple link and drive members meet at the target point, and angle adjustment elements to control the emission member's orientation toward the target point. It can be applied to industrial robots and automation systems to improve control and directionality, reduce operating time, and enhance the precision of irradiation equipment compared to conventional technologies.

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Key Features:

• A 3D irradiation device capable of adjusting the angle at which the emission member faces a target point.
• A control unit that manages the operation of the robotic arms or the position of the emission member.
• An emission member provided at the end of the robotic arm.
• A robotic arm that performs tasks on an object.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for brain mapping-based robot rehabilitation.

Manufacturing technology for metal products that captures the texture of fabric

The present invention relates to a method for manufacturing metal products using fabric patterns and the metal products manufactured thereby. More specifically, it relates to a method for manufacturing metal products, such as jewelry, that faithfully reproduce the unique texture of fabric using wax-coated fabric patterns.

Conventional wax carving methods have limitations in capturing delicate surface textures like those of fabric on metal products. The present invention overcomes these limitations, allowing the unique texture and soft, organic forms of fabric materials to be perfectly expressed in metal.

By creating a metal pattern master from a wax-coated fabric pattern, and subsequently producing a silicone/rubber mold, a wax pattern, and a plaster mold to cast liquid metal, the ability to express delicate surface textures similar to fabric is significantly enhanced.

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Key Features:

• Manufacturing a metal pattern master that captures the texture of fabric using wax-coated fabric patterns
• Mold forming process to create silicone or rubber molds for products from the pattern master
• Process of injecting and curing injection wax (melting point 65–75°C) to create wax patterns for products
• Casting process of injecting liquid metal into a plaster mold to complete metal products with preserved fabric textures

Cleaning robot device that switches cleaning modes based on the location of uncleaned areas

This technology is a cleaning robot device and control method that identifies uncleaned areas based on obstacle detection and environmental information, and dynamically updates and optimizes cleaning paths by switching between path, proximity, and remote modes depending on the location of those areas.

Conventional random, spiral, and zigzag methods struggle to secure efficient cleaning paths in indoor environments with many obstacles, leading to uncleaned areas, increased battery consumption, and delayed cleaning times.

This technology uses encoders, distance sensors, and contact sensors to identify obstacles and uncleaned areas. The control unit analyzes the relationship between obstacles and the location of uncleaned areas to select the appropriate cleaning mode in real time and update the path. Applicable to both residential and commercial cleaning robots, it eliminates uncleaned areas while reducing both cleaning time and battery consumption.

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Key Features:

• A sensing unit that detects the surrounding environment using encoder, distance, and contact sensors
• A path movement step that applies movement signals for the cleaning robot to travel along its cleaning path
• A detection step that determines the presence of obstacles in the surrounding environment using the sensed information
• A configuration that updates the path by selecting between path, proximity, and remote modes based on the presence of obstacles and the location of uncleaned areas

Wedge-tip coupling inchworm-style lift device for building exteriors

This technology is a lift device that moves along the vertical panels of a building exterior using an inchworm-style mechanism. It utilizes a ball screw drive and a wedge-tip expansion/contraction system to sequentially couple and move the main body and the mobile units.

Maintenance of high-rise building exteriors currently faces challenges such as worker fall risks and labor shortages. Existing gondola systems are vulnerable to weather conditions and lack an effective means to navigate dead zones at building corners.

This technology uses a rotating ball screw to secure or release two mobile units into coupling holes via wedge-tip units, allowing the main body to ascend and descend in an inchworm motion. The L-shaped main body and guide rail mobile unit enable work even at building corners. It is designed for high-rise exterior maintenance, ensuring both precise vertical movement and large-displacement travel.

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Key Features:

• Main body for moving the robot along the vertical panels of a building exterior
• Lifting ball screw rotatably installed on the main body to move the wedge-tip units
• Wedge-tip units that can be coupled to or released from the coupling holes of the vertical panels and move along the ball screw
• Configuration where two mobile units alternately couple and decouple to achieve inchworm-style movement

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement (KAIA) for the development of an intelligent robot system for high-rise building exterior maintenance.

Mobile Robot Localization and Recovery Technology Using Area-Based Matching Error

This technology estimates a mobile robot's position by calculating matching errors based on the area deviation between range sensor scan data and environment map-based predicted data, applying these to a probability density function, and enabling rapid recovery in the event of a failure.

Existing beam models are sensitive to sensor data errors, suffer from reduced localization accuracy in real-world environments with unmapped obstacles, and experience delays in recovery when localization fails due to issues like wheel slippage.

This technology calculates matching errors using the deviation between scan range areas and predicted range areas, removes noise via a median filter, detects failures using statistical thresholds, and proposes a method for probabilistic re-estimation within a maximum motion boundary. It can be applied to indoor service robots and logistics robots, minimizing downtime by quickly recovering even if the robot loses its position.

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Key Features:

• Acquiring scan data of the surrounding environment based on scans from a range sensor mounted on a mobile robot
• Calculating matching errors based on the deviation between the scan range area and the predicted range area derived from an environment map
• Determining whether localization has failed based on whether the matching error exceeds an error threshold
• Configured to probabilistically re-estimate the position within a maximum motion boundary upon detecting a failure

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This invention was developed with support from the Korea Institute for Advancement of Technology (KIAT) through the project for fostering demand-oriented global leaders in indoor/outdoor robot autonomous driving technology.

Paddle-type driving module with drag optimization via self-rotating driving legs

This technology is a driving module and a robot incorporating it, where multiple driving legs rotating around a central axis simultaneously self-rotate to control drag based on the direction of travel.

Existing paddle-structured robots suffer from reduced propulsion efficiency because the direction of drag is fixed during rotation, causing drag to act against the direction of movement.

By utilizing a gear structure between a central plate and satellite plates, this technology is designed to allow the paddle sections to self-rotate along their rotational trajectory, thereby maximizing forward drag and minimizing reverse drag. It can be applied to off-road robots, amphibious mobile platforms, and agricultural robots to achieve higher propulsion efficiency with the same power input.

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Key Features:

• Driving legs positioned at a predetermined radius from a rotation axis of a predetermined length
• Driving legs that rotate along a trajectory centered on the rotation axis while self-rotating about their own longitudinal central axis
• A power transmission unit that connects the rotation axis to the driving legs, causing the driving legs to self-rotate as the rotation axis turns
• A central plate located in the inner region of the trajectory where the driving legs rotate, and satellite plates fixed to the upper ends of the driving legs

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This invention was developed with the support of the Ministry of Science and ICT for research on environment-adaptive smart wheel-based robot systems.

Variable Gripper Combining Shape-Memory Polymer 3D Printing and Heater Control

This technology is a variable gripper that uses a 3D-printed shape-memory polymer structure, an adhesive polymer layer, and a heater unit. By utilizing heat-induced glass transition to reversibly control the physical shape of the wings, it can grip and release objects.

Conventional grippers have faced challenges such as difficulty in controlling gripping and releasing performance, slow release times, and inefficiencies in manufacturing costs and time.

This technology optimizes shape recovery by controlling 3D printing process variables, such as unit layer thickness and wing edge width, and physically controls response time by combining heater temperature application with external force. It can be applied to precision component transport, micro-assembly, and medical device handling, enabling sophisticated grip control through low-cost manufacturing.

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Key Features:

• Manufacturing a carrier unit comprising a first surface with a recessed area and an opposing second surface
• Manufacturing a variable structure including wings bonded to the side adjacent to the second surface of the carrier unit
• Manufacturing an adhesive polymer layer by providing an adhesive polymer source within the recessed area of the carrier unit
• Manufacturing a heater unit to provide temperature to the variable structure and bonding the wings at a first angle

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This invention was developed with support from the Ministry of Science and ICT for the development of 3D printing-based, biosignal-responsive, customized implant devices for smooth urination in patients with lower urinary tract symptoms.

Upper Limb Rehabilitation Robot Device

This technology is an upper limb rehabilitation robot that combines a multi-joint link structure, a connecting shaft, and an actuator to assist with or provide resistance to rehabilitation exercises based on the user's upper limb trajectory.

Existing upper limb rehabilitation robots have struggled to integrate various movement types—such as horizontal, inclined, and vertical—and multifunctional training modes—such as active, passive, and resistive—into a single device.

This technology features a link unit, an active actuator (motor), a passive actuator (variable damper), and a rotatable connecting support, allowing for diverse exercise modes and multi-angle rehabilitation training tailored to the user's upper limb movement trajectory. It can be applied to rehabilitation training, gait assistance, and medical/welfare services, improving both the variety of rehabilitation exercises and cost-efficiency for patients with damaged or paralyzed limbs.

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Key Features:

• A link unit with one side coupled to a connecting shaft and the other side equipped with an upper limb connector to secure the patient's arm.
• An upper limb rehabilitation robot device where a ball plunger is installed at the junction of the third and fourth rods.
• A base frame with a laterally positioned connecting support rotatably installed on one side.
• A connecting shaft rotatably installed on one side of the connecting support.