Sewer Pipe Maintenance Robot and Method Thereof

This technology is an automated robotic system that utilizes non-destructive testing signals (such as radiation, ultrasound, and laser) within sewer pipes to detect the 3D coordinates of infiltration points on the outer wall, and employs a dual-arm manipulator to drill and inject repair materials at those specific locations.

Sewer maintenance sites face high risks of safety accidents (suffocation, electric shock, falls), high labor intensity, and declining work efficiency due to labor shortages and an aging workforce.

This technology integrates a tilt sensor and a dual-arm manipulator onto a mobile platform. It performs precise, non-destructive detection and repair by generating 3D coordinates of infiltration points via a non-destructive testing module (first arm) and controlling automated drilling and injection via a repair module (second arm). Applicable to industrial robots and automated systems, it enhances safety and speed in sewer repair and reinforcement, thereby improving overall process efficiency and quality.

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Key Features:

• Manipulator equipped with an inspection module that detects infiltration points and generates coordinates using non-destructive testing signals, and a repair module for drilling and injecting repair materials
• Communication unit that transmits infiltration point coordinates and receives control signals via wireless communication with a remote control device
• Mobile platform that moves along the sewer pipe and controls the manipulator to maintain a horizontal position relative to the ground
• Dual-arm structure where the first arm is equipped with the inspection module and the second arm with the repair module

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This invention was developed with support from the Ministry of Science, ICT and Future Planning's Nanotechnology-based Convergence Research Program.

Under-actuated Wrist-Forearm Joint Mechanism with Reduced Actuator Count

This technology relates to an under-actuated wrist-forearm joint mechanism and its driving method, capable of fully independent control of each degree of freedom, allowing for the independent control of three degrees of freedom with a minimal number of actuators.

Conventional robotic prosthetics require an actuator for every degree of freedom, leading to an increased number of actuators and higher overall weight, which results in greater user burden and increased power consumption.

By combining a wire-driven structure with an active joint section, this under-actuated design achieves independent control of approximately three degrees of freedom, reducing both the number of actuators and total weight while maintaining full functionality.

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Key Features:

• A first reference joint section that serves as the basis for a multi-degree-of-freedom joint mechanism designed for robotic applications.
• A kinetic joint section installed on one side of the first reference joint, capable of multi-axial rotation and featuring a semi-ellipsoidal or ellipsoidal shape.
• A plurality of forearm sections with one end connected to the other side of the first reference joint, and a second reference joint connected to the opposite ends.
• A forearm structure that implements rotational degrees of freedom similar to the radius and ulna by twisting relative to the second reference joint.

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This invention was developed with support from the Ministry of Science and ICT’s Phase 2 (3rd Stage) Bionic Wrist Design Technology Development project and the Human-Centered Soft Robot Research Center.

Variable Stiffness Mechanism with Fast Response and Multi-Degree of Freedom

This technology relates to a variable stiffness mechanism using electro-rheological friction, utilizing layer jamming to adjust stiffness by applying voltage to a layered stack.

Existing layer jamming drive units struggle to broadly adjust bending and torsional stiffness, and their limited resistance characteristics make them difficult to use in various postures.

By adopting a layered structure where layers are arranged to slide and rotate relative to one another, this technology achieves both fast response speeds and multi-degree of freedom, making it highly effective for stiffness control in wearable robots.

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Key Features:

• A variable stiffness device comprising a layer stack in which a plurality of layers are stacked such that their ends overlap in the vertical direction.
• A configuration where layers are coupled to allow for relative sliding and rotation, with each layer including an electrode layer and a dielectric layer.
• A configuration that induces electrostatic force and electro-rheological friction by applying an electric field between layers undergoing relative motion.
• A configuration including a plurality of first layer stacks arranged to be spaced apart in the vertical direction and a second layer arranged at a specific interval.

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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.

Remote Verification Technology for AI Models on Mobile Platforms Using TEE-Based Result Comparison

This technology is a method and apparatus for remotely verifying the integrity of an AI model on a mobile platform. The server transmits a target image to the mobile platform, receives the result generated by the platform's deep learning model, and compares it with the result from a second deep learning model that shares the same initial parameters.

AI models embedded in mobile platforms are vulnerable to parameter tampering attacks, which can lead to manipulated object recognition results. Previously, there was a lack of technical means to remotely verify and defend against such threats.

This technology proposes a method to ensure the security of the verification process itself by performing image transmission and result reception within a Trusted Execution Environment (TEE) isolated from the open operating system. It can be applied to security monitoring for autonomous vehicles and unmanned mobile platforms, enabling remote detection of parameter tampering and ensuring the integrity of AI models.

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Key Features:

• The server transmits a target image, which is at least one image used for object recognition, to the mobile platform.
• The server receives the result from the mobile platform, which is obtained by applying the target image to the deep learning model.
• A second deep learning model is configured to have the same initial parameters as those applied to the deep learning model on the mobile platform.
• The mobile platform's deep learning model is verified by comparing the received result with the second result generated by the second deep learning model.

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This invention was developed with the support of the Ministry of Science and ICT's research project for the development of common core security technologies for unmanned mobile platforms.

Underwater Object Scan Path Planning Technology Using Polygon Overlapping Analysis for Ultrasonic Cameras

This technology converts 3D point clouds acquired by an underwater robot's ultrasonic camera into 2D polygons and dynamically sets scan paths based on the line vectors and normal vectors of the maximum overlapping polygon extracted by comparing them with pre-stored polygons.

Due to the nature of underwater ultrasonic cameras, which only perform unidirectional scanning, it has been difficult to grasp the full shape of objects, and technical limitations often led to blind spots because the underwater robot's movement path could not be optimized.

This technology proposes a method that determines the next scan direction through 2D projection of 3D data and maximum overlapping polygon analysis, and automatically terminates the scan based on scan coverage angles and area change thresholds. It can be applied to seafloor surveys and shipwreck exploration, reducing survey time and energy by scanning along optimal paths without blind spots.

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Key Features:

• Acquiring multiple 3D point cloud data of an object through scans performed by an ultrasonic camera
• Converting the multiple 3D point cloud data into a first polygon with 2D coordinates
• Extracting a maximum overlapping polygon by overlapping the first polygon with a pre-stored second polygon
• Setting the scan path of the ultrasonic camera based on the line vectors and normal vectors of the maximum overlapping polygon

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This invention was developed with the support of the Smart Underwater Tunnel System Research Center under the Ministry of Science and ICT.

Brain-Computer Interface Technology for Robot Arm Control via Error-Related Potential Verification and Mode Re-determination

This technology is a brain-computer interface (BCI) method and device for controlling a robot arm that determines the control mode using BCI technology and verifies and re-determines the appropriateness of the control mode in real-time based on error-related potentials.

Existing BCI-based control technologies are limited to detecting simple motor imagery, making it difficult to efficiently control diverse robot movements and challenging to prevent errors when there is a mismatch between the user's intent and the robot's actual movement.

This technology proposes a method that determines and provides feedback on one of three control modes—reaching, grasping/releasing, or wrist rotation—based on abstract features extracted from the user's EEG, and re-determines the mode if the error-related potential exceeds a threshold. It can be used for assistive robots for patients with quadriplegia and in rehabilitation training, significantly improving control reliability by self-correcting mismatches between intent and action.

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Key Features:

• Measuring the user's primary EEG to extract abstract features used for determining the control mode
• Determining one of the control modes—reaching, grasping/releasing, or wrist rotation—based on the abstract features
• Providing feedback on the determined control mode to the user and measuring the resulting error-related potential
• A configuration that corrects errors by re-determining the control mode if the measured error-related potential exceeds a threshold

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This invention was developed with support from the Ministry of Science and ICT under the project "Development of Non-invasive BCI Integrated Brain-Cognitive Computing SW Platform Technology for Controlling Real-life Devices and AR/VR Devices via Thought" (BCI-General/Sub-project 1) and "Development of BCI-based Brain-Cognitive Computing Technology for Recognizing Human Intent using Deep Learning" (BCI-Sub-project 2).

Weight-bearing assistive device for ankle patients featuring a 3-point contact structure and shock-absorbing components

This technology is a weight-bearing assistive device that supports the leg to transfer weight to the knee and thigh during walking for ankle patients. It combines a support shaft containing an elastic shock-absorbing component to dampen ground reaction forces with a 3-point contact base.

Existing solutions have significant drawbacks: crutches can cause axillary nerve damage and arm pain, exoskeletons are expensive and cumbersome to use, and single-point contact rehabilitation tools often result in unstable gait.

This technology proposes a system that connects a leg support, which cradles the knee and calf, to a base consisting of three contact points via a support shaft. By integrating a height-adjustment mechanism and a lower shock-absorbing component within the shaft, the device effectively distributes and cushions the load during walking. It is ideal for patients recovering from foot fractures or ankle surgery, allowing for stable mobility without straining the arms and improving quality of life during the recovery period.

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Key Features:

• Leg support that cradles the knee and calf to bear weight while keeping the foot off the ground
• Base support equipped with multiple contact members positioned to enable 3-point gait between the base and the foot
• Support shaft section connected to the leg and base supports, featuring a height-adjustment shaft with a series of alignment holes
• Elastic shock-absorbing component that attaches via a height-adjustment stopper to dampen ground reaction forces during walking

Robot Joint Unit Equipped with a Joint Torque Sensor for Measuring Stator Reaction Torque

This technology is a robot joint unit featuring a joint torque sensor that positions the drive unit's stator between the base and the joint torque sensor, measuring the reaction torque applied to the speed reducer from the output link through the deformation of the sensing frame between the stator and the base.

Conventional joint torque sensors are located between the speed reducer and the output link, where they are subject to direct vibration from the reducer, leading to measurement errors, reduced overall joint stiffness, and restricted rotation angles due to wiring constraints.

This technology proposes placing the joint torque sensor between the drive unit's stator and the base to measure reaction torque, utilizing a Wheatstone bridge circuit on the sensor frame's connecting beams, and routing wiring through a hollow shaft. Applicable to collaborative robots and precision manipulators, it ensures both high measurement accuracy and joint stiffness while enabling infinite rotation.

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Key Features:

• A drive unit comprising a base, a stator supported by the base, and a rotating rotor to provide input torque
• A speed reducer that receives input torque from the drive unit and reduces it to generate increased driving torque
• An output link that receives driving torque from the speed reducer to rotate and drive an external load
• A joint torque sensor positioned on the base to detect the reaction torque acting on the speed reducer from the output link

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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.

Photo-responsive deformable structure capable of locomotion via light-induced bending of azobenzene liquid crystal polymers

This technology is a photo-responsive deformable structure and a method for operating it, which utilizes the bending deformation caused by the cis-trans isomerization of azobenzene liquid crystal polymers induced by light irradiation as a driving force.

Existing intelligent composite actuators have limitations in that they require external heat supply, electrical current, or direct mechanical tension to operate, leading to a high dependency on external devices and complex system requirements.

This technology proposes a method utilizing a multi-polymer film structure containing photo-responsive azobenzene liquid crystal polymers and adhesive supports at the ends of the body. By generating reversible bending deformation through irradiation with specific wavelengths of light, it creates adhesion to and release from the ground, as well as propulsion, allowing for active movement control using only light energy without mechanical contact. Applicable to microrobots, smart materials, and light-driven actuators, it presents new possibilities for next-generation driving methods that control movement solely with light, eliminating the need for power sources or wiring.

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Key Features:

• A first body part comprising a polymer film that undergoes bending deformation upon light irradiation
• A second body part comprising a polymer film that undergoes bending deformation upon light irradiation
• A connecting part that links the first and second body parts, allowing the bending deformation to be transmitted throughout the entire structure
• Adhesive supports formed at one end of the first and second body parts that come into contact with the ground

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This invention was developed with support from the Ministry of Science and ICT for the design and implementation of photo-responsive self-deforming structures.

Collision Avoidance System for Surgical Robots Based on Endoscopic 3D Image Registration

This technology is a minimally invasive surgical robot system that generates a 3D environmental model of the inflated abdominal cavity by registering multiple endoscopic views. It predicts and prevents collision risks by comparing real-time robotic arm position data during surgery with key biological structures within the 3D model.

Preoperative CT and MRI scans are limited to the state of the body before inflation, creating a discrepancy with the actual surgical environment. Furthermore, existing robotic surgery systems struggle to prevent collisions between robotic tools and biological tissues in non-visible areas due to limited fields of view.

This technology proposes a method of inserting an endoscope into the abdominal cavity before surgery to acquire multiple 2D and 3D images, registering them into a 3D model, and mapping the real-time position of the robotic arms onto this model. By calculating collision risks and providing feedback to the control unit, it prevents collisions even in non-visible areas. By predicting and preventing collisions in areas outside the surgeon's field of view during laparoscopic robotic surgery, this technology serves as a core foundation for fundamentally enhancing surgical safety.

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Key Features:

• An endoscopic device equipped with an endoscope that is inserted into the inflated surgical space prior to robotic surgery to capture images of the area.
• An image processing unit that uses multiple 2D or 3D images to generate a 3D model of the surgical space, highlighting key biological structures.
• A surgical robot system comprising robotic arms inserted into the surgical space, a control unit for operating them, and an endoscope.
• A collision avoidance unit that prevents collisions between the surgical robotic devices and the key biological structures identified in the 3D model.

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This invention was developed with support from the Ministry of Science and ICT for research on the development of next-generation surgical robot systems through collision avoidance for surgical robotic arms.

Robot hand mimicking hand movements using a flexible base and rolling-contact joint links

This technology is a robot hand that mimics the bending, rotating, and tilting movements of human fingers using a flexible base, side connectors, and rolling-contact joint links.

Conventional rigid robot hands struggle to adapt flexibly when grasping irregular objects, and force and position control methods often lead to increased hardware complexity and weight.

This technology introduces a flexible first base and side connectors to provide degrees of freedom for tilting the rod links, while utilizing wire tension and a rolling-contact joint structure. This allows for the implementation of thumb rotation and complex bending of the joint links with a simple structure. It can be applied to prosthetic hands, service robots, and logistics gripping devices. Its flexible structure enables it to adapt to irregular objects while achieving a lightweight design, significantly broadening its range of applications.

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Key Features:

• A base unit comprising a first base made of flexible material to which rod links are coupled, and a second base coupled to one side of the first base.
• A plurality of joint link units rotatably connected to the base or rod link units to implement finger bending movements.
• A rotating link unit with one end rotatably connected to the base and the other end connected to the thumb joint link.
• A structure where the first base, to which the rod links are coupled, is made of flexible material and has a second base coupled to one side.

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This invention was developed with support from the Ministry of Science and ICT for the development of biomimetic bionic hand mechanisms.

Manual load adjustment device that distributes load through wire friction and gear gap control

This technology is a manual mechanical device that distributes load using wire friction. It features a kinematic mechanism that controls the wire's locked or released state by adjusting the gap between the first and second gears through the rotation of an engagement adjustment member.

Repetitive lifting of heavy objects causes muscle fatigue and injury risks. Existing motorized assistive devices are heavy and expensive due to the need for motors, controllers, and power supplies.

This technology implements a manual load adjustment device that physically supports the load by securing or releasing the wire through grooves (receptacles) formed in the teeth of the first and second gears, without the need for a motor or other power sources. It can be applied to industrial muscle assistance, logistics, and rehabilitation, reducing muscle fatigue and injury risks by assisting with heavy object handling without the need for motorized equipment.

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Key Features:

• A body providing an internal space by having opposing inner surfaces spaced apart by a set distance
• A first gear rotatably provided in the space formed between the inner surfaces of the body
• An engagement adjustment member rotatably provided based on an adjustment rotation axis, which changes the axial position of the second gear according to its rotation
• A second gear connected to the engagement adjustment member, which engages with or disengages from the first gear and features groove-shaped receptacles formed in its teeth

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of under-actuated mechanisms and gait control technology for exoskeleton robots, which are modified assistive devices for the independent walking of individuals with paraplegia.

Passive muscle-assist device that supports upper body weight using a cam and cam follower elastic structure

This technology features a body worn on the user's thighs and a muscle-assist member that supports the front of the upper body. It utilizes a mechanical elastic structure with a cam and cam follower to support upper body weight and assist muscle strength without the need for an external power source.

Conventional muscle-assist devices are heavy, expensive, and complex due to the inclusion of motors, power supplies, and control units.

By combining the cam's rotational profile with an elastic member, this technology generates a moment in the direction of the muscle-assist member's rotation. Through the linear movement of a cam follower utilizing a cross-roller guide, it provides muscle-assist effects during the user's bending motions without requiring a power source. It is suitable for industrial muscle support, rehabilitation, and logistics, reducing weight, cost, and strain on the lower back by supporting upper body weight passively.

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Key Features:

• A muscle-assist device comprising a moving part that is provided to move along the longitudinal direction of a guide part, is coupled with a cam follower, and is connected to the guide part in the form of a cross-roller guide.
• A guide part fixed to the outer surface of the first or second body part, provided such that its longitudinal direction faces the direction of movement of the cam follower.
• A muscle-assist member rotatably connected to the body in a front-to-back direction, capable of supporting the front of the user's upper body.
• A body having a first body part and a second body part, each of which can be worn on the user's thighs.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of under-actuated mechanisms and gait control technology for assistive exoskeleton robots for the independent walking of individuals with paraplegia.

Magnetic Field Control Device and Operating Method for Driving Micro-Robots

This technology involves a magnetic field control device that forms a virtual hexahedral structure with coil blocks wound sequentially in three different directions. By placing a magnetic core inside and controlling the current across multiple coil blocks, it generates a 3D omnidirectional magnetic field to precisely control the movement of micro-robots.

Conventional electromagnetic coil devices are limited to generating magnetic fields in the single direction of the coil alignment, which restricts control in arbitrary directions within 3D space. Furthermore, these systems often suffer from physically constrained workspaces due to the coil structure and low spatial efficiency.

This technology utilizes coil blocks wound sequentially along three axes, arranged in a symmetric structure (rotational symmetry/regular polygon) at an equal radius from the micro-robot's initial position. By adjusting power, it generates and controls magnetic fields in all 3D directions. Applicable to industrial robots and automated systems, it improves micro-robot movement control by allowing magnetic fields to be generated not only between the multi-coil cube gaps but also through other orientations.

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Key Features:

• A magnetic field control device for driving micro-robots that include a magnetic core in a globular or polyhedron shape.
• Coil blocks consisting of multiple coils wound sequentially in different directions, surrounding a virtual hexahedral structure.
• A control unit that regulates the current applied to each of the multiple coils in the coil blocks via a current supply unit.
• A current supply unit that provides current to each of the multiple coils.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of 3D precision magnetic micro-structures and cell/drug delivery-based technology.

Gripper Control Device Using Force Sensors

This technology measures reaction forces in real-time using force sensors placed at two different points on the gripper jaw. By applying these measurements to kinematic equations, it calculates the actual contact force with the target object and combines this with position control data to manage the gripper's gripping state and estimate the position of the grip point.

While industrial grippers offer high repeatability, they struggle to provide precise contact force information regarding the object being gripped. This creates technical limitations in ensuring safety when handling heavy objects or accurately identifying the physical properties of the target.

This technology is a gripper control system that includes a calculation unit and a control unit. It implements an algorithm to calculate real-time contact force by measuring reaction forces at two points on the jaw, constructs a control loop by comparing the actuator's real-time position and calculated contact force against target values, and estimates grip point locations and object properties after the grip is secured. Applicable to logistics picking, service robots, and manufacturing automation, it improves repeatability, contact force management, and material discrimination capabilities without relying on vision cameras or visual estimation.

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Key Features:

• Controlling the gripper to complete the gripping of a target object using the actuator's real-time position and calculated contact force compared against target position and target contact force values.
• Measuring the reaction force generated at predetermined points on the gripper jaw and the position of the actuator in real-time as the gripper engages the target object.
• Receiving the target position value for the gripper actuator and the target contact force between the gripper and the target object from a user terminal.
• Calculating the contact force between the gripper and the target object in real-time using the measured reaction forces.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of end-effector technology for rescue robots.