Wearable Robotic Clothing with Enhanced Comfort and Aesthetics

This technology relates to a wearable robot integrated into high-performance clothing, featuring a base layer made of functional fabric with embedded drive components.

Conventional wearable robotic clothing often suffers from poor waist belt stability and exposed power transmission components, which detract from the garment's seamless integration, aesthetics, and overall comfort.

This technology improves both comfort and appearance by integrating the waist belt and thigh sections into the base layer and housing the power transmission path within a protective cover.

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Key Features:

• A base layer featuring a single, integrated front-and-back pattern tailored to the user's body from the waist to the knees.
• A waist belt section positioned at the top of the base layer and a thigh section positioned at the bottom.
• A power transmission unit that connects the waist belt and thigh sections to deliver assistive force from the actuator to the wearer's lower limbs.
• An upper-body garment that serves as the wearer's top, housing the actuator and battery module that generate the assistive force.

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This invention was developed with support from the Ministry of Science and ICT for the "New Concept Wire-Fabric Mechanism-Based Ankle Assistive Device for Improved Gait Stability and Energy Efficiency" project, and the Ministry of Trade, Industry and Energy for the "Development of a Human-Augmented Hybrid Robot Suit Capable of Safe 100m Sprints in 7 Seconds and Comfortable 12-Hour Wear" project.

Wheelchair-type gait assistance robot combining a linear guide lift and an exoskeleton

This technology is a wheelchair-type gait assistance robot that integrates a lift composed of outer and inner linear guides into a drive unit equipped with drive motors and wheels, featuring a seat upper connected to the inner linear guide and an exoskeleton worn on the user's lower body.

Existing gait assistance devices have suffered from issues such as a lack of structural stability, limited operational space, and reduced effectiveness during long-distance travel, all of which increase the burden on the user.

This technology proposes a method for stably elevating the seat upper using a linear actuator and dual linear guides, while integrating it with an exoskeleton. Applicable to lower-limb rehabilitation and long-distance mobility assistance, it allows for seamless switching between gait training and wheelchair use in a single device, ensuring both structural stability and versatility.

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Key Features:

• A drive unit comprising a main frame, drive motors installed on the main frame, and wheels driven by the drive motors
• An outer linear guide fixed to the main frame and an inner linear guide capable of vertical movement along the outer guide
• A seat upper connected to the inner linear guide and configured to move vertically with it
• A linkage assembly connected to the outer linear guide that unfolds and folds in response to the elevation of the inner linear guide

Underwater 3D Scanning Device Using Geometric Calculation of Rotating Camera and Line Laser

This technology is an underwater scanning device that projects a line onto an object and the seafloor using a laser emitter mounted on an underwater mobile body. It extracts the 3D shape of the object by geometrically calculating the distortion and spacing differences of the line captured by a camera rotating around the body's central axis.

Existing stereo vision methods require high-performance computing resources and lighting, while sonar methods necessitate expensive positioning sensors. Furthermore, determining the relative position between robots and objects underwater has historically been difficult, leading to high costs in achieving scanning precision.

This technology proposes a method to extract the height and actual size of an object without the need for separate, expensive positioning sensors by mathematically calculating the line length per frame and the spacing differences between the seafloor and the object. It can be applied to marine structure inspection and underwater artifact surveys, enabling precise 3D measurement with a low-cost configuration.

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Key Features:

• A body capable of underwater movement extending in a first direction, and a propulsion unit for controlling movement
• A laser emitter that projects a line laser to form a line on the object and the surrounding ground where the object is placed
• A camera provided on one end of the body in the longitudinal direction to capture the object on which the line is formed
• A configuration that extracts 3D shapes by capturing images while rotating the camera around the longitudinal central axis of the body

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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.

Localization Status Diagnosis for Autonomous Mobile Robots Using Machine Learning-Based Distance and Heading Error Metrics

This technology is a localization status diagnosis method that determines whether an autonomous mobile robot has successfully localized itself by calculating distance error metrics based on range sensors and heading error metrics based on odometry, then inputting these into a supervised binary classification algorithm for self-diagnosis.

Existing localization diagnosis methods have faced challenges with high dependency on specific algorithms or fluctuating sensor data reliability depending on environmental conditions, making it difficult to achieve universal and robust diagnosis.

This technology proposes a method that defines distance error metrics using the average error of highly reliable range measurements and heading error metrics based on tolerance ranges, utilizing a trained binary classification model to determine success or failure in real time. It can be applied to indoor service robots and logistics robots, significantly enhancing operational stability by enabling the robot to detect when it has lost its position and initiate recovery procedures.

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Key Features:

• A training phase where distance error metrics, heading error metrics, and localization success status are registered as training data.
• A sensing phase where multiple distance measurements are collected via range sensors at the robot's current position.
• A calculation phase where the robot's estimated heading at its current position is derived from odometry information.
• A diagnostic configuration that applies metrics calculated from measurements to a machine learning model to determine the success of localization.

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This invention was developed with support from the Ministry of Science and ICT for the "Intelligent Growth Autonomous Driving System for Unmanned Vehicles Operating Safely in Congested Living Road Environments" project, and the Ministry of Agriculture, Food and Rural Affairs for the "Agricultural Production Unmanned Automation Workforce Training and Research Support" project.

Task Allocation Technology for Heterogeneous Automated Transport Systems Combining Load Constraints and Heuristic Optimization

This technology is an automated transport system and task allocation method that optimizes route and task assignment by setting vertices for multiple heterogeneous automated guided vehicles (AGVs), calculating travel costs based on vehicle-specific structural characteristics, and integrating primal-dual heuristic techniques with load constraints.

In heterogeneous AGV systems with varying structural characteristics and load capacities, there has been a challenge in maximizing overall efficiency while minimizing the computational load required for task allocation and path planning.

This technology proposes a two-stage optimization process: first, setting initial vehicle positions and task nodes as vertices to obtain a travel cost matrix for initial allocation via heuristic techniques, and second, redistributing tasks by applying constraints that compare load capacity with required loads. It can be applied to unmanned transport systems in smart factories and logistics warehouses, significantly increasing throughput in environments where heterogeneous vehicles operate together.

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Key Features:

• Step of registering structural characteristics and load capacity for each of the multiple heterogeneous automated guided vehicles
• Step of registering multiple tasks, including pickup nodes, delivery nodes, and required loads
• Step of setting tasks and initial nodes as vertices for each vehicle and calculating travel costs between vertices
• Configuration for allocating tasks to each vehicle by reflecting primal-dual heuristics and load capacity constraints

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This invention was developed with the support of the National Research Foundation of Korea's Intelligent Growth Autonomous Driving System for Unmanned Vehicles operating safely in congested residential road environments.

Elevator Recognition Technology for Mobile Robots Combining Deep Learning Recognition and Point Cloud Hough Transform

This technology identifies elevators by combining point cloud data collected via RGB-D sensors with deep learning-based image recognition models. It then accurately estimates the elevator's position and boundaries by analyzing linear data extracted through Hough transforms alongside point cloud distances.

Existing location recognition methods using laser range sensors or standard cameras often suffer from low accuracy due to reflections from metallic elevator surfaces, and they typically require additional environmental modifications, such as installing artificial markers.

This technology uses a deep learning model to identify elevators and processes RGB-D sensor point cloud data through noise reduction and Hough transforms to distinguish walls from elevators, subsequently calculating boundaries and positions through geometric analysis. It can be applied to indoor delivery and disinfection robots, enabling autonomous inter-floor movement without the need for separate markers.

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Key Features:

• A movement phase where the mobile robot travels to a recognition point near the elevator to detect it.
• A phase where an estimated elevator image is acquired at the recognition point.
• A recognition phase where a model trained on elevator and non-elevator images determines the presence of an elevator.
• A phase where the elevator's position and boundaries are estimated using point cloud data and Hough transforms.

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This invention was developed with support from the Ministry of Science and ICT for the development of robotic hand manipulation intelligence, which learns methods and procedures for handling various objects using tactile-capable robotic hands.

Humidity-Responsive Actuator Using Aligned Nanofiber Moisture-Responsive Layers

This technology relates to a humidity-responsive actuator that operates without external electrical energy by utilizing the expansion of a moisture-responsive layer and the asymmetric behavior of an inactive layer in response to changes in relative humidity, as well as its manufacturing method and applications in robotics.

Conventional actuators require an external power supply, leading to a high dependency on energy sources and the need for additional wiring and power units.

This technology proposes a method of stacking a moisture-responsive layer of unidirectionally aligned nanofibers formed by electrospinning with a moisture-inactive layer. By implementing a driving unit that undergoes mechanical bending and straightening due to humidity differences, it provides an actuator that operates solely on environmental energy without the need for an external power source. It can be applied to environment-responsive smart materials, self-powered sensors, and autonomous robots, offering the potential for next-generation actuators free from the constraints of batteries and wiring.

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Key Features:

• A moisture-responsive layer containing multiple nanofibers capable of expanding and contracting based on the amount of atmospheric moisture.
• An inactive layer that is unresponsive to moisture, inducing asymmetric behavior relative to the moisture-responsive layer to create bending deformation.
• The moisture-responsive layer is configured with multiple nanofibers stacked with gaps, providing porosity and unidirectional alignment.
• An actuator where the elongation along the longitudinal direction of the nanofibers increases as relative humidity rises.

Slider-type wire actuator for underactuation with minimized friction using driven bearings

This technology is a slider-type wire actuator and a glove-type wearable robot equipped with it, which converts the rotational motion of a drive motor into the linear motion of a slider via a drive wire, and performs underactuation by distributing the tension of a driven wire through a driven pulley and driven bearing mounted on the slider.

Wire-driven underactuated robots have historically faced issues such as reduced power transmission efficiency and component wear due to friction caused by slippage between the wire and contact surfaces, as well as increased production costs due to structural complexity.

This technology proposes a method to minimize friction between the wire and the structure by equipping the slider with a driven pulley and driven bearing, ensuring that the wire only slips within the bearing. The linear drive configuration using a drive pulley and drive wire reduces mechanical volume and production costs. It can be applied to rehabilitation glove robots and industrial gripping devices, providing a practical solution that enhances durability by reducing frictional loss and component wear while lowering manufacturing costs.

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Key Features:

• A support body, a guide member installed to extend in the longitudinal direction, and a slider that moves linearly along it
• A drive unit including a drive motor, a drive pulley, and a drive wire connecting the drive pulley and the slider
• A driven unit including a driven bearing and a driven pulley installed on the slider, and a driven wire wound around the driven pulley
• An elastic member connected to the slider and the support body to provide elastic force in the direction opposite to the slider's movement

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This invention was developed with support from the Human-Centered Soft Robotics Technology Research Center of the Ministry of Science and ICT.

Monolithic Rolling-Contact Joint Mechanism Printable via 3D Printing Without Assembly

This technology is a monolithic joint mechanism that uses 3D printing to output multiple bodies in a separated state, which are then deformed to make contact through external force, maintaining contact and performing rolling motion through the interaction between the connecting parts and guide parts.

When joint parts that come into contact are printed as a single piece using 3D printing, they fuse together, preventing movement. Conversely, printing them separately requires a manual assembly process, which introduces assembly gaps and makes precision control difficult.

This technology proposes a method where multiple bodies are printed as a single piece in a first state, separated by a rolling surface, and then transition to a second state where the bodies come into contact as the connecting part is tensioned by external force, following an arc-shaped guide. This enables the implementation of joints capable of precise rolling motion without any assembly process. It can be applied across various 3D printing-based manufacturing fields, such as medical devices, small robots, and custom mechanical parts, significantly reducing production time and costs by eliminating the need for assembly.

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Key Features:

• Multiple bodies printed in a separated first state that deform into a contacting second state
• A connecting part that links the bodies in the first state and supports their contact in the second state
• The multiple bodies include a first body and a second body, each featuring rolling surfaces that contact each other during movement
• A structure printed as a single piece via 3D printer that can be deformed from a first state to a second state by external force to enable movement

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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.

Robot gripper for simultaneous gripping of connectors by combining plug and wire grippers

This technology features a mechanism where plug and wire grippers are spaced apart on the first and second gripper bodies of a robot gripper, sliding along a rail to simultaneously grip and press both the plug and its connected wire.

Conventional parallel jaw grippers suffer from limited gripping surface area for electrical connectors, poor compatibility due to connector size variations, and risks of movement path restrictions or connection damage caused by exposed wires.

This technology separates the plug and wire gripping sections and uses first and second pressure plates to secure the plug. By setting the hardness of the plug gripping surface lower than that of the wire gripping surface, it enhances gripping stability and achieves variable-width gripping through sliding rail actuation. It can be applied to manufacturing assembly, electrical automation, and industrial robotics, increasing assembly process efficiency by simultaneously gripping connectors and wires of varying specifications.

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Key Features:

• A plug gripping unit comprising a first plug gripper and a second plug gripper spaced apart from the first, configured to grip a plug in the space between them.
• A pressure unit consisting of a first pressure plate in contact with one side of the plug, and a second pressure plate positioned between the second plug gripper and the second wire gripper, also in contact with one side of the plug.
• A wire gripping unit comprising a second wire gripper configured to grip the wire connected to the plug in the space between it and the first wire gripper.
• A plug gripping unit comprising a second plug gripper configured to grip the plug in the space between it and the first plug 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 techniques for small, precision component assembly in mobile IT products.

Glove-type grip assistance device using pneumatic cylinders, pulleys, and wires to enhance gripping force

This technology is a glove-type wearable device that converts the stroke changes of a pneumatic cylinder into bending and extending motions of the finger joints using a pulley-based stroke compensation member and a wire system. It utilizes an external pneumatic source (e.g., a firefighter's air tank) and enhances gripping force by controlling cylinder actuation via finger pressure sensors.

Existing electric motor-based assistive devices require large batteries and motors to generate high output, which increases the weight and places a significant burden on the user, leading to accumulated muscle fatigue when handling heavy objects.

This technology optimizes device weight by incorporating a pneumatic cylinder and wire connection structure, while the stroke compensation member (pulley mechanism) ensures a wide range of motion for finger joints even with minimal stroke changes. Additionally, it features a control unit based on pressure sensors that detect fingertip pressure and open/close valves to automatically assist with grip. Applicable to firefighting, industrial sites, strength assistance, and rehabilitation, it increases gripping force without the need for large batteries, thereby reducing muscle fatigue and musculoskeletal strain.

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Key Features:

• A wearable grip assistance device maintained at a distance shorter than the gap between the inner surface of the thimble-type main body and the fingertip facing it in the normal direction.
• A stroke compensation member installed on the wire component that supplements the cylinder's stroke to increase the range of bending and extending motions of the glove structure.
• A wire component installed between the glove structure and the cylinder that works in conjunction with the cylinder's operation to bend or extend the glove structure.
• A cylinder connected to the glove structure, driven by pneumatic pressure, which enables the bending and extending motions of the glove structure through stroke changes.

Active Upper Limb Exercise Assist Device

This technology is an upper limb exercise assist device coupled with a multi-joint robot. It detects upper limb movement by placing multiple 1-axis force sensors (load cells) in an open-type cradle that accommodates the user's forearm, and generates robot motion control signals by detecting the user's intended hand rotation through a separate pronation/supination sensing mechanism.

Conventional 6-axis force-torque sensors are expensive, and because the user's arm must be firmly fixed to the robot, it is difficult for the user to escape in the event of a system malfunction, posing a safety risk.

This technology ensures safety and simplifies the controller by using an open-structure cradle with distributed low-cost 1-axis force sensors to detect user movement, and a pronation/supination sensing mechanism featuring a cam and spring to identify user intent. Applicable to logistics picking, service robots, and manufacturing automation, it reduces malfunctions and emergency incidents in multi-joint robots, improves the accuracy of user intent detection, and provides better power assistance in the direction of upper limb movement.

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Key Features:

• An active upper limb exercise assist device comprising a pronation/supination sensing means that detects the pronation/supination of the user's hand through the rotation of a handle part, which is coupled to the front end of a distance adjustment member and rotatably connected to the axis of a pronation/supination rotation sensor.
• A height adjustment member that is vertically coupled to the lower part of the front end of the base's horizontal plate, and adjusts the height between the cradle and the handle by adjusting its own height.
• A distance adjustment member whose rear end is coupled to the lower end of the height adjustment member, and which adjusts the distance between the cradle and the handle by adjusting its length in the front and rear directions.
• A pronation/supination sensing unit that detects the user's intent for pronation/supination of the hand based on the rotation direction of the handle part.

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This invention was developed with the support of the Ministry of Science, ICT and Future Planning for the development of an active exercise system based on human-robot collaboration technology to improve upper limb motor function in the elderly and infirm.

Mobile Platform for Field Robot Manipulators

This technology is a mechanical mobile platform located beneath a manipulator that detects ground inclination in real-time and controls multiple independently driven cylinders to maintain the level of the upper frame, allowing it to actively adapt to changing terrain.

Conventional caterpillar-type mobile platforms have fixed front and rear sections, which cause instability in the manipulator's posture on inclined terrain and limit movement in narrow spaces due to the inability to adjust width when navigating obstacles.

This technology features first and second pivoting plates on either side of a central coupling plate, with sensors installed on each base plate to measure ground inclination. By extending or retracting independent cylinder sets placed between each pivoting plate and base plate, it achieves precise horizontal control of the upper frame and variable movement width. It can be applied to robotic gripping, precision measurement, and automated equipment, enhancing operational stability and efficiency by maintaining the level of the upper frame.

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Key Features:

• A mobile platform for a field robot manipulator, comprising a pair of second cylinders that control the second pivoting plate horizontally in response to detection values from a second base plate sensor.
• An inclination control unit with both ends coupled to the upper frame and lower frame respectively, capable of changing length and controlling the upper frame horizontally in response to detection values from a sensor unit.
• A mobile platform for a field robot manipulator that moves the manipulator, comprising an upper frame unit to which the manipulator is coupled on its top surface.
• A sensor unit that measures the inclination of the upper frame or lower frame.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of a reinforced concrete chipping robot system for the maintenance of covered structures.

Flexible Dome-Shaped Tactile Sensor for 3-Axis Force Measurement

This technology relates to a flexible dome-shaped tactile sensor capable of 3-axis force measurement, a tactile sensor array, and a manufacturing method thereof, utilizing a hemispherical bump structure to simultaneously detect normal and shear forces.

Conventional tactile sensors have faced limitations in applications involving human contact or attachment to curved surfaces due to spatial constraints, high manufacturing complexity, and a lack of flexibility.

This technology features a flexible structure with stacked lower electrodes, a sensing layer, upper electrodes, and hemispherical bumps to resolve and measure 3-axis forces. It can be expanded into an array to map tactile distribution and is suitable for use in robot hands and wearable devices.

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Key Features:

• A plurality of lower electrodes in an array format printed on a flexible lower substrate, with each electrode electrically connected.
• A sensing layer coupled to the top of each lower electrode, and a plurality of upper electrodes coupled to the top of the sensing layer and printed on the underside of a flexible upper substrate.
• A hemispherical bump coupled to enclose the sensing layer and the plurality of upper electrodes, designed to transmit external forces to the sensing layer.
• A configuration that measures normal force based on the average value of signals from the plurality of sensing layers, and shear force based on the difference between the signals.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of tactile/texture augmented reality actuator technology for remote operation of power facilities using flexible thin-film actuators of 0.5 mm or less.

String-Twisting Actuator Cartridge for Easy String Replacement

This technology relates to a string-replacement cartridge for a string-twisting actuator and the actuator itself, allowing for the replacement of consumable strings as a modular cartridge unit.

Fiber strings are consumables that wear out or break due to repeated twisting; however, existing designs require the actuator to be disassembled for replacement, making maintenance cumbersome and time-consuming.

By modularizing the string and the fixing unit into a single cartridge and combining it with a detachable rigid module, this technology enhances durability while significantly simplifying the replacement process.

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Key Features:

• A shaft configured for use in string-twisting actuators, designed to allow a drive motor to be attached and detached at one end.
• A fixing unit with a through-hole for the shaft, and a fixed end that restricts shaft rotation when attached.
• A string with one end coupled to the shaft and the other end connected to a hook.
• A detachable rigid module that can be assembled between the hook and the fixing unit to prevent the length of the string coupled to the hook from changing.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of core technologies for compact, lightweight, high-performance, and durable safe drive modules based on string twisting, utilizing string surface strengthening, variable radius pulleys, and hybrid drive control; the development of a human-augmentation hybrid robot suit capable of safe 100m traversal in 7 seconds and comfortable 12-hour wear; and the Ministry of Science and ICT’s Human-Centered Soft Robot Technology Research Center.