Gait assistance device using three variable-length modules to support pelvic movement

This technology assists pelvic movement using three variable-length modules (center, left, and right) that connect a wearable harness to its supporting frame. Sensors detect the user's gait intention, and the length of each module is independently controlled to assist with pelvic movement in the sagittal and transverse planes.

Existing lower-limb exoskeleton robots are prone to falling during gait due to the instability of their mechanical structures and control algorithms, which are typically based on bipedal or quadrupedal locomotion. For paralyzed patients with insufficient muscle strength, a fall can pose a significant risk of serious injury.

This technology features variable-length modules pivotally coupled to the rear, left, and right sides of a harness, with a control unit that identifies gait intentions (forward movement, rotation) based on sensor data. By driving motor cylinders and rods to push or pull the harness, the system actively assists with the forward, backward, and rotational movements of the pelvis according to the user's gait intention, applying weighted control. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it enhances gait stability for paralyzed patients by supporting pelvic movement in the sagittal and transverse planes.

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Key Features:

• A gait assistance device that controls the length of each of the left and right variable-length modules.
• A central variable-length module pivotally coupled to the rear of the harness, designed to push or pull the rear of the harness.
• A left variable-length module pivotally coupled to the left side of the harness, designed to push or pull the left side of the harness.
• A central variable-length module configured to assist with pelvic movement in the sagittal and transverse planes.

Gait assistance device with independent left and right lifting control using counterweights and wires

This technology features a structure that secures to the wearer's pelvis/upper body via a harness and compensates for body weight during walking using counterweights and wires. It detects the user's arm/leg movements through sensors to independently control the left and right lifting units, providing gait assistance and incorporating a mechanism to control differential wheel drive during turns.

Existing wearable robots for patients with lower limb paralysis often lack adequate fall prevention due to instability in their mechanical structures and control algorithms, posing a high risk of serious injury to patients with limited muscle strength if they fall.

This technology detects gait intent by sensing body rotation and arm/leg movements via non-contact sensors. It generates active gait assistance by selectively operating the left and right lifting units through a control module to raise or lower the counterweights. The system also incorporates intent for turning by differentially controlling wheel rotation speeds. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it reduces the risk of falling and supports stable walking for patients with lower limb paralysis.

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Key Features:

• Non-contact sensors provided on the front links of the left and right counterweight support link units, respectively, to detect the user's gait intent.
• A gait assistance device where the counterweight continuously lifts the body while controlling at least one of the left and right lifting units.
• Left and right counterweight support link units, each including a rear link and a connecting link that joins the front link and the rear link.
• Left and right lifting units connected to one side of the connecting links to provide vertical movement for the left and right connecting links.

Communication Relay System for Tunnels Using Unmanned Aerial Vehicles

This technology provides a wireless communication recovery mechanism. When a communication failure is detected in sensor nodes arranged in a line within a tunnel, the control server calculates the location of the failure and dispatches an unmanned aerial vehicle (UAV) to that position to receive data from the previous hop sensor node and relay it to the next hop or the sink node.

Due to the linear structure of tunnels, it is difficult to secure alternative communication paths when a specific sensor node fails. Furthermore, existing mobile robot solutions suffer from data transmission delays and accelerated battery depletion due to a lack of disaster-priority-based channel access.

This technology allows the control server to monitor the reception of communication messages (Hello/Beacon) from sensor nodes to detect failed nodes and calculate the UAV's hovering position using triangulation or RSSI. It also controls the UAV to prioritize access to the communication channel by adjusting the Contention Window (CW) value between the UAV and the sensor nodes. It can be applied to unmanned exploration, surveillance, and environmental monitoring, improving the stability and speed of data transmission during tunnel disasters.

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Key Features:

• Multiple sensor nodes equipped with fire detection sensors, arranged in a line at set intervals within the tunnel
• A sink node that collects data and messages transmitted from distant nodes toward adjacent nodes outside the tunnel
• A control server that determines the connection status of sensor nodes via messages, calculates the location of faulty nodes, and generates control signals for the unmanned aerial vehicle
• An unmanned aerial vehicle that moves to the location of the faulty node according to control signals to relay data between the previous hop and the next hop

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This invention was developed with support from the Ministry of Public Safety and Security for the development of USN-based search and rescue equipment technology for tunnel and underground space accident response.

Bi-manual surgical device

This technology is a control mechanism for performing bi-manual surgery. It uses a fiber-optic distance sensor (OCT) to measure the distance between the surgical tool tip and the lesion in real time, while the control unit calculates tremor compensation values to drive precision motors, effectively eliminating tremors in the forceps and scissors components.

Existing stabilization technologies focused on single surgical tools struggle to effectively compensate for hand tremors during precise micro-cutting procedures using both hands, and configuring systems for bi-manual use often results in bulky, oversized equipment.

This technology utilizes a 2x2 coupler to split the light source to measure the tip distance of each surgical instrument (forceps/scissors). It applies a compensation system that precisely controls motors based on compensation values calculated by comparing real-time position changes against pre-set initial position data, along with an ultra-compact drive mechanism using a rhombic barrel structure. Applicable to surgical robots, interventional systems, and medical automation, it enhances the accuracy and precision of micro-incision surgeries by compensating for tremors in real time.

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Key Features:

• A bi-manual surgical device characterized in that the two blades open when the barrel is raised by an ultra-compact actuator.
• A control unit that compensates for tremors in the forceps and scissors components based on the measured distance during surgery.
• The second surgical instrument is a scissor component that cuts micro-tissues held by the forceps component.
• The first surgical instrument is a forceps component for grasping the surgical site.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for a multi-degree-of-freedom sensing and actuation-based bi-manual ultra-precision surgical platform.

Actuator with pre-designed bending angle and shape

This technology relates to a layered bending actuator and its driving method, utilizing a negative pressure system that determines bending angles and shapes through the combination of layered components.

Existing actuators focus on variable stiffness or linear motion, often resulting in creases during bending, unsmooth operation, and limited bending angles.

By combining curved members with flat layered members and applying negative pressure inside an outer cover, this technology reliably achieves the bending angles and shapes intended during the design phase.

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Key Features:

• An outer shell made of flexible material with an internal space to house the layered structure of the bending actuator
• A negative pressure pump that provides suction within the shell's internal space to trigger the bending motion of the layered structure
• A layered structure installed within the internal space that bends when negative pressure is applied by the pump
• A configuration where the bending angle and shape are determined by the design of the layered structure

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a human-augmentation hybrid robot suit capable of safe 100m sprints in 7 seconds and comfortable 12-hour wear, and from the Ministry of Science and ICT for the development of core technologies in human-robot interaction-based hybrid control and interface design for safe and efficient collaboration, mobility, and rehabilitation.

Anchoring Point Determination Technology for Personalized Assistive Force

This technology relates to a method for determining customized anchoring points for wearable robotic clothing, calculating force transmission points based on the wearer's physical condition and muscle strength.

Even with the same wearable robot, the optimal force transmission point varies depending on the wearer's body type and muscle strength; improper anchoring can lead to reduced assistive effectiveness and potential safety issues.

By proceeding through initial setup, assistive force determination, and activity determination stages, this technology calculates personalized anchoring points and assistive forces, thereby enhancing the effectiveness and safety of wearable robots.

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Key Features:

• Initial setup stage for establishing anchoring points on a pair of wearable components worn at intervals on two parts of a human body model
• Configuration that transmits force applied from an actuator to each part of the human body model through a power transmission unit such as a cable
• Assistive force determination stage that adjusts the actuator's force until the assistive force reaches the target level using a musculoskeletal simulation program
• Configuration that determines the customized anchoring point by comparing results based on the established anchoring points

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This invention was developed with support from the Ministry of Science and ICT for the development of a new wire-fabric mechanism-based ankle orthosis to improve stability and energy efficiency during walking, and from the Ministry of Trade, Industry and Energy for the development of a human-augmentation hybrid robot suit capable of a safe 100m sprint in 7 seconds and comfortable 12-hour wear.

Robot Arm Fault Diagnosis and Prediction Technology Using Angle Prediction Error in LSTM seq2seq Models

This technology diagnoses faults by inputting multi-axis current sequences of a robot arm into a seq2seq model—comprising an LSTM encoder, a latent vector layer, and an LSTM decoder—to predict normal angle sequences and comparing the mean squared error against actual output angles with a threshold.

Existing model-based fault diagnosis struggles to identify failure mechanisms, while conventional data-driven methods face limitations in accurate prediction and diagnosis for multivariate systems where implementing physical damage models is difficult.

This technology proposes a method that monitors the error between predicted and actual angles in real time using a seq2seq model trained solely on normal current and angle data. Applicable to predictive maintenance in smart factories and industrial robot management, it enables early anomaly detection without the need for fault data, significantly improving equipment uptime.

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Key Features:

• Training a seq2seq model to output normal angle sequence data by inputting normal current sequence data
• Configuring an LSTM-based seq2seq model that includes an LSTM encoder module, a latent vector layer, and an LSTM decoder module
• Predicting normal output angles by inputting current sequence data into the trained seq2seq model
• Diagnosing faults by comparing the error between the predicted normal output angle and the actual output angle against a threshold

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This invention was developed through the development of fault prediction and diagnosis technology for the Gyeongsangbuk-do smart manufacturing platform and the Ministry of Science and ICT's support for smart sensor-based intelligent building safety information in earthquake-prone regions.

Variable Gravity Compensation Exoskeleton for Muscle Strength Augmentation Using a Slider-Crank and Position Adjustment Mechanism

This technology is a passive gravity compensation mechanism that offsets the torque caused by the weight of the arm using a slider-crank mechanism. It combines a counterbalancer unit that utilizes spring compression with a position adjustment device that modifies the distance between the rotation centers of the connecting rod, creating a variable gravity compensation and exoskeleton muscle augmentation device.

Existing exoskeleton devices rely on expensive sensors and motor-driven systems, leading to high maintenance costs, limited operating time due to battery dependency, and reduced field applicability caused by the heavy weight of the devices themselves.

This technology proposes a variable gravity compensation device composed entirely of mechanical elements, eliminating the need for sensors or external power sources. By adjusting the operating radius of the connecting rod via a position adjustment knob and clamp, the output compensation torque can be regulated. It is suitable for overhead tasks and assembly lines in manufacturing environments, allowing workers to wear it comfortably without battery concerns while continuously reducing shoulder strain.

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Key Features:

• A base link rotatably connected to a root link to form a base joint
• A first link connected to the base link to form a first joint, with its center of gravity positioned at a distance
• A counterbalancer unit that generates compensation torque by compressing a spring in conjunction with the rotation of the first link
• A position adjustment device that varies the compensation torque by adjusting the rotation center distance of the connecting rod

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a low-cost robot system based on multi-degree-of-freedom passive gravity compensation.

Joint Bending Stiffness Control Device Using Torsional Control of a Mesh-Type Variable Stiffness Element

This technology is a bending stiffness control device for joint mechanisms that adjusts joint stiffness by securing a cylindrical mesh-type variable stiffness element to the arms of a joint and twisting one end of the element using a motor and gear mechanism.

Existing technologies for controlling bending stiffness in manipulators and motion assistance devices are insufficient, and there has been a lack of simple, effective mechanical means to ensure movement assistance, operational precision, and safety.

This technology proposes a method to control bending stiffness by varying the density of a mesh structure through torsion. It features a mesh-type variable stiffness element, a supporting holder, and a rotating unit consisting of a motor and drive/driven gears. Applicable to collaborative robots and rehabilitation assistive devices, it offers new possibilities for freely switching between flexibility and rigidity depending on the task.

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Key Features:

• A variable stiffness unit featuring a mesh-type variable stiffness element whose rigidity changes according to the degree of torsion
• A rotating support member coupled to one end of the mesh-type variable stiffness element to transmit torque
• A first variable stiffness unit holder coupled to the first arm to rotatably support the rotating support member
• A second variable stiffness unit holder coupled to the second arm to support the other end of the variable stiffness element

Vertical Articulated Robot Manipulator with Gravity Compensation Using a Modular Spring Counterbalancer

This technology is a vertical articulated robot manipulator equipped with a gravity compensation device. It integrates a spring-based counterbalancer module into the link structure to offset gravity torque caused by the self-weight of the robot's link mechanism, utilizing a movable member that deforms an elastic member in conjunction with the rotational movement of the links.

Operating articulated robots typically requires high-capacity motors and reducers due to the load applied to joints by gravity. Conventional counterweight methods increase inertia, while existing spring-based methods suffer from complex structures and difficult maintenance.

This technology proposes a modular counterbalancer consisting of an elastic member, a connecting rod, and a movable member installed on the first link. It applies auxiliary torque to the second and input links by converting the rotation of the links into the sliding motion of the movable member. This provides an economical solution for industrial vertical articulated robots by reducing actuator capacity requirements and improving energy efficiency.

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Key Features:

• A second link connected to the first link by a first joint, allowing for rotation relative to the first link
• A third link connected to the second link by a second joint spaced apart from the first joint
• An input link connected to the first link, allowing for rotation independently of the second link
• A counterbalancer module rotatably connected to the third link and the input link to deform the elastic member

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a low-cost robot system based on multi-degree-of-freedom passive gravity compensation.

Aerial Manipulator System for Safe Path Planning via Physical Property Estimation of Transported Objects

This technology is a safe flight transport system and real-time path planning method that estimates physical properties, such as the mass of an object during aerial manipulator transport operations, and generates safe paths in real-time by considering the drone's propulsion capabilities and the kinematic constraints of the robotic arm.

There is a risk of crashing if the additional torque caused by the weight of the transported object exceeds the drone's allowable thrust range. Existing tether or gripper methods suffer from low transport stability, as they are unable to perform precise motion control or estimate physical properties in complex environments.

This technology proposes a method that acquires kinematic information based on the object's external dimensions, estimates physical properties in real-time during post-takeoff hovering, and determines the operational workspace by comparing these with propulsion limits. By using inverse kinematics and priority-based task allocation to generate safe paths, it enables transport without the risk of crashing. Applicable to drone delivery, aerial operations, and industrial facility maintenance, it prevents crash risks during transport and enhances the practical commercial viability of aerial manipulators.

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Key Features:

• End-effector path generation unit that acquires kinematic information about the object to be transported to generate the end-effector's path
• Transport capability assessment unit that determines the operational workspace for the end-effector by identifying the drone's transport capacity
• Physical property estimation unit that estimates physical properties while the drone hovers after taking off with the object
• Drone path generation unit that modifies the drone's path by considering transport capabilities based on the estimated physical properties

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This invention was developed with support from the Ministry of Education's Convergence Knowledge-based Creative Mechanical and Aerospace Talent Training Program and the Ministry of Trade, Industry and Energy's development of drone autonomy and vision-based operation technology for high-precision aerial manipulation.

1-DOF Finger Rehabilitation Guide Device Combining Revolute and Prismatic Joints

This technology features a 1-DOF linkage mechanism for finger rehabilitation that includes supports coupled to the first and second phalanges of a finger, precisely guiding finger movement through a combination of multiple links, revolute joints, and prismatic joints.

Existing finger rehabilitation devices often require complex control algorithms and multiple actuators, leading to high costs. Furthermore, conventional 1-DOF linkage devices suffer from an increased number of mechanical components and limitations in layout modifications when changing joint positions.

This technology proposes a link structure incorporating multiple prismatic and revolute joints, allowing for flexible layout changes within the plane of motion. By applying a pin-in-slot joint to simplify mechanical elements, it optimizes the number of parts while efficiently utilizing linear or rotary actuators. It can be used for finger rehabilitation in stroke and hand injury patients, and by inducing precise joint movement with a single actuator, it reduces device costs and improves accessibility to rehabilitation.

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Key Features:

• A first support coupled to the first phalanx between the first and second finger joints
• A second support coupled to the second phalanx between the second and third finger joints
• A first link that supports the hand on one side and is supported by the floor on the other to serve as a reference for the link structure, along with a drive unit that generates driving force
• First and second transmission units comprising multiple links, revolute joints, and prismatic joints to transfer driving force to the supports

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This invention was developed with the support of the Ministry of Science, ICT and Future Planning for the development and application of creative synthesis technology for spatial mechanisms.

Foldable Manipulator Capable of Transforming Between Cube and Flat States Based on Thales Linkage

This technology is a foldable module and manipulator that uses an origami-based Thales linkage structure to transform between a cubic state and a flat state with a single degree of freedom. It secures structural rigidity in its upright state through the folding and interlocking mechanism of its side plates and lockers.

Conventional robotic arms are bulky and complex, which can compromise flight stability in small mobile platforms like drones due to weight and dynamic coupling issues. Furthermore, attempts to increase degrees of freedom for miniaturization often result in reduced rigidity, making them vulnerable to external forces.

This technology proposes a method to ensure cubic rigidity by incorporating top and bottom plates, a second side plate divided into foldable and non-foldable sections, and a locker that engages with the first side plate to provide a locking function. The shape of the entire module can be controlled with a single degree of freedom using an actuator that adjusts the tension of a wire passing through wire holes. It is an innovative solution that achieves both compact storage when folded and high rigidity when deployed, making it suitable for drone-mounted robotic arms, space structures, and portable work equipment.

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Key Features:

• Top and bottom plates capable of transforming between a cubic first state and a flat second state
• A first side plate that stands perpendicular to the top and bottom plates in the first state and folds outward along folding lines
• A second side plate featuring foldable and non-foldable sections defined by a partial vertical cut
• A locker that engages with the first side plate to provide a locking function, and an actuator that adjusts wire tension

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This invention was developed with support from the Human-Centered Soft Robot Technology Research Center of the Ministry of Science and ICT and the development of soft robotics-based technology for next-generation soft grippers by the Ministry of Trade, Industry and Energy.

Tensegrity Artificial Joint with String-Connected Branching Members

This technology is an artificial joint mechanism that forms a tensegrity structure by connecting two branching joint members with multiple main and sub-strings. This design ensures rotational freedom and flexibility without physical contact, effectively preventing friction and wear.

Traditional rigid mechanical joints struggle to absorb external shocks, cannot achieve flexibility along the axis of rotation through control methods alone, and suffer from reduced durability over time due to friction and wear between components.

This technology connects the branches of the first and second joint members symmetrically or in parallel using multiple main strings, while incorporating auxiliary sub-strings to control rotational characteristics. This allows for pitch/yaw rotational freedom and multi-directional flexibility based on string tension. Applicable to collaborative robots, wearable robots, and precision manipulators, it ensures long-term durability by eliminating friction and wear through non-contact rotation.

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Key Features:

• A second joint member comprising a second frame and second-first and second-second branches extending from both sides of the second frame.
• An artificial joint further comprising sub-strings, wherein the sub-strings provide rotational characteristics between the first joint member and the second joint member.
• A first joint member comprising a first frame and first-first and first-second branches extending from both sides of the first frame.
• A first main string connecting one side of the first-first branch to one side of the second-first branch.

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

Substrate gripping device that simultaneously operates multiple grippers using a pneumatic cylinder to hold the interior of a substrate

This technology is a mechanical mechanism that uses a pneumatic cylinder and piston rod to simultaneously move multiple grippers mounted on a body frame in a linear direction, physically gripping the internal space of a substrate from multiple directions.

Precise alignment during substrate transfer is difficult, the gripping area is limited, and there is a risk of physical damage to components during the gripping process.

This technology adopts a structure where grippers positioned on each side of the body frame move linearly in four directions (up, down, left, and right) via a drive unit (piston rod), flexibly accommodating and securing the substrate through rollers and elastic elements within the grippers. It can be applied to semiconductor and display transfer as well as manufacturing automation, increasing alignment accuracy by gripping the substrate from multiple directions and reducing the risk of damage.

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Key Features:

• A first grip unit positioned on the first side of the body frame to hold a first area of the substrate
• A second grip unit positioned on the second side of the body frame to hold a second area of the substrate
• A drive unit that moves the first and second grip units in opposite directions during the gripping process
• A gripper with an accommodation space for the substrate area and a guide to direct the movement of the gripper

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of process technology, grippers, and assembly technology for the assembly of small, precision parts for mobile IT products.