This technology utilizes 1-axis force sensors placed on each link connecting the top and bottom plates of a Stewart platform structure to calculate multi-axis force/torque data, enabling collaborative driving and internal force control among multiple mobile robots.
Conventional single mobile robots are limited in payload capacity and size, making them inefficient for transporting large or irregularly shaped objects and creating an economic burden by requiring the acquisition of separate, larger robots.
This technology configures multiple mobile robots in a master-slave structure and calculates the 1-axis force sensor data (summed force and torque values) from each robot's Stewart platform links in real-time. It then adjusts and controls the driving speed of individual robots using force control and force-velocity algorithms. Applicable to logistics, service robots, and autonomous driving platforms, it enhances the efficiency of object transport, particularly in e-commerce and warehouse management, by reducing unnecessary costs and resource usage.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for research on neural robot technology based on physical and cognitive interaction.
This technology is a multi-user Human-Swarm Interaction (HSI) control system that tracks user hand gestures in virtual reality (VR/AR/MR) environments to simulate swarm robot movement paths, formations, and control commands in real-time, applying them to actual robotic systems.
Existing 2D interface-based swarm control has limitations in 3D spatial manipulation and fails to support complex formation control or simultaneous multi-user operation beyond individual robot control.
This technology integrates head-mounted displays with hand-tracking systems to visualize robot swarms in a 3D virtual space. It enables intuitive control through hand gestures such as pinch-to-zoom for viewpoint manipulation, automatic scaling, waypoint setting, virtual wall creation for herding, and swarm shaping, allowing multiple users to control swarm robots simultaneously. By significantly reducing the operational complexity in fields requiring the simultaneous deployment of multiple robots—such as logistics warehouses, disaster response, and defense surveillance—it provides a practical solution to lower the barriers to the commercialization of swarm robotics.
This invention was developed with support from the Ministry of Science and ICT’s Human-Centered Soft Robot Technology Research Center and the Ministry of Science and ICT’s project for developing 3D collaborative teleoperation technology for unstructured tasks in harsh environments.
This technology is an upper limb rehabilitation device featuring a modular structure designed to support a patient's upper arm, forearm, and hand for rehabilitation exercises. Each module can be selectively attached or detached using a dovetail mechanism, and the kinematic structure allows for independent operation and control of the elbow, wrist, and fingers.
Conventional integrated upper limb rehabilitation robots require all components to be assembled regardless of the specific area needing rehabilitation, resulting in large installation footprints, high costs, difficulty in switching between left and right arm configurations, and low user convenience.
This technology utilizes a base frame and a modular design with a dovetail attachment system for the upper arm support, forearm exercise unit, and hand rehabilitation unit. This allows for selective assembly based on the specific rehabilitation area, easy switching between left and right arm use, and adjustable length mechanisms. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it improves installation efficiency and utility by allowing hardware to be selected based on the specific body part requiring rehabilitation.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for brain mapping-based robot rehabilitation.
This technology is a multifunctional soft robot mechanism based on a variable-stiffness structure that applies origami and kirigami principles. It uses motors and cable tension to control the folding, unfolding, and rotation of the structure, enabling both locomotion and shape transformation through two mobile parts.
Existing soft robots have limitations, such as low stiffness, which makes them vulnerable to external forces, and monotonous deformation methods that restrict them to single-function tasks.
Based on the Miura-ori pattern, this technology features a variable structure composed of sub-bases and sub-heads. By adjusting cable tension via motors and pulleys embedded in the first and second mobile parts, the robot can precisely control its bending, contraction, and stiffness. This allows a single robot to perform various locomotion and transformation tasks. It offers new possibilities beyond the stiffness limitations of conventional soft robots and can be widely applied in environments requiring shape changes, such as navigating narrow spaces, entering disaster sites, and logistics automation.
This invention was developed with support from the Metamorphic Mechanical Systems Research Group of the Ministry of Science and ICT.
This technology provides a mechanical mechanism for a gripper module mounted on the end of a multi-jointed robot arm to attach or detach a rod-type coupling aid on a device module, or to grip workpieces such as bolts, using a coupling interface and gripping groove formed on two fingertips.
Previously, manual tool changes were required for every task, resulting in low efficiency, while the use of tool changers led to excessive downtime during changeovers.
This technology features a mechanical interface structure designed with a concave coupling section on the inner side of the fingertips and a gripping groove crossing it. By inserting the protruding rod-type coupling aid of a device module into the coupling section, the module is secured, while the gripping groove allows for the handling of objects like bolts. Applicable to manufacturing automation, assembly processes, and service robots, it increases task transition efficiency by enabling device tool changes without the need for a tool changer.
This invention was developed with support from the Grand ICT Research Center funded by the Ministry of Science and ICT.
This technology is a high-degree-of-freedom (DOF) robot hand design that features multiple motor sets within the palm module, combining wire and gear drive systems to enable finger flexion/extension and abduction/adduction.
Conventional tendon-driven robot hands often require the drive unit to be mounted on the forearm due to the bulk of the motors and controllers, which limits their practical application and increases the overall system size.
This technology integrates the drive module within the palm, utilizing a bearing array to control wire paths for each finger joint and a stopper member to limit motor rotation, thereby achieving independent multi-DOF control. Additionally, the palm and finger modules are designed to be detachable, enhancing maintenance convenience. Suitable for humanoids, manufacturing automation, and service robots, this design enables multi-DOF movement and easy maintenance entirely within the palm, eliminating the need for forearm-mounted drives.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of robot task control technology capable of grasping and manipulating various objects in daily life environments and utilizing tools based on multimodal perception.
This technology is a manual tool changer mechanism for replacing robot end-effectors. When an operator moves the shaft using a handle, the shaft bracket, link, and hook bracket work in tandem to lock the guide pins of the lower mechanical plate.
Conventional technologies faced challenges such as manufacturing and setup difficulties due to complex structures, reduced coupling accuracy caused by bending deformation of the Z-axis reference plane, and the risk of tool detachment in air-driven systems if the air circuit fails.
This technology adopts a simplified mechanical linkage structure consisting of a shaft bracket, link, and hook bracket. It incorporates a PCB module for electrical signal connection and implements a mechanical locking device operated by a handle, ensuring robust tool coupling and safety during detachment. Applicable to industrial robots and automation systems, it enhances manufacturing process efficiency, maximizes installation space utilization, and optimizes robot utility in small-scale production.
This technology is an automatic tool changer mechanism that converts the linear motion of a servomotor into the rotational motion of a link and hook bracket to physically engage and secure guide pins between a robot hand and a tool.
Conventional air cylinder-based clamping methods pose a risk of tool detachment if the air supply is cut off, and they suffer from structural complexity due to multiple reference surfaces, as well as reduced coupling precision caused by bending deformation over long-term use.
This technology utilizes a drive mechanism consisting of a servomotor, rod, rod bracket, link, and hook bracket to lock the tool by engaging the stepped portion of the hook bracket with the cutout of the guide pin. It achieves structural simplification and protection from external environments through electrical signal connection via a PCB and the strategic placement of components within the housing. Applicable to industrial robots and automation systems, it enhances tool change efficiency and maximizes space utilization in small-scale production environments.
This technology utilizes a pair of wire devices that mimic agonist and antagonist muscles to assist in the flexion and extension of human joints. It provides a tendon-driven mechanism that controls the tension of each wire through a moving part supported by an elastic member and a drive wire, while providing real-time feedback on joint displacement via an encoder.
Conventional transfer equipment is limited in its range of use due to installation space constraints, while manual labor-dependent tasks suffer from reduced efficiency and a high risk of industrial accidents due to high physical intensity.
This technology assists muscle strength by connecting the first and second wires, fixed to the front and rear of the joint, to independent moving devices and varying the displacement of the moving parts via a drive wire connected to a drive motor. It controls tension balance by applying force in the opposite direction to the drive wire using a connecting wire, and ensures control efficiency by measuring movement with an encoder device that includes a rack-and-pinion structure. Applicable to industrial robots and automation systems, it enhances control stability and natural movement in wearable robots, prevents malfunctions, and reduces drive force transmission time.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a garment-type wearable robot system consisting of a 50W-class drive module for human muscle strength assistance and human-robot muscle model-based control techniques.
This technology utilizes a combination of constant velocity joints, bevel gears, spur gears, and link mechanisms to achieve abduction/adduction (A/A) and flexion/extension of finger modules. By housing the drive module within the palm and utilizing gear ratios for dependent joint actuation, the design ensures both miniaturization and operational stability.
Tendon-driven systems often face maintenance challenges due to tension fluctuations, while direct-drive systems suffer from increased robot hand size due to the placement of motors and reduction gears.
This technology uses constant velocity joints to eliminate interference between flexion/extension and abduction/adduction movements. The gear linkage structure allows the motors to be integrated into the palm module, enabling a size comparable to a human hand. Suitable for manufacturing automation, service robots, and humanoids, it provides a compact, stable, and low-maintenance alternative to tendon-driven systems.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of robot manipulation control technology capable of grasping, manipulating, and using various objects in daily life environments based on multimodal perception.
This technology is a mechanism that controls the joint movement of a robot leg using multiple tension members (such as wires or cables) to apply tensile force. By arranging multiple hip joints and tension connection structures around a joint actuator composed of an acetabulum and a femoral head, the force from a remote actuator is transmitted to the thigh via tension members, enabling 3-DOF movement (rotation, abduction/adduction, and flexion/extension) of the leg.
Conventional leg drive methods require complex frame structures and heavy motors to be mounted directly on the joints, which increases the overall weight of the robot, results in poor shock absorption due to the heavy joints, generates noise, and incurs high manufacturing costs.
This technology places the drive motors at a distance from the joint actuator and connects multiple tension members—which pass through channels formed in the acetabulum and the branches of the hip joints—to the thigh, enabling multi-axis movement of the thigh through tension control. This eliminates the need for high-output/large motors directly at the joints, allowing for a lightweight design, while the tension members provide shock absorption. Applicable to walking robots, disaster response robots, and mobile platforms, it reduces the number of joint motors to achieve a lighter weight, improved shock absorption, and lower manufacturing costs.
This invention was developed with support from the Ministry of Science and ICT for a tensegrity robot system using pneumatic and tendon hybrid actuation.
This technology is a fastening mechanism that automatically connects and disconnects gadget modules and gadget control modules through physical contact and mechanical pressure with a magazine unit, without the need for an external power source. It includes a mechanism where the separation protrusion of the magazine unit presses the fastening unit of the gadget control module to release it from the locking part, while an attachment/detachment enhancement unit uses elastic force to facilitate the separation of the modules.
When replacing gadget assemblies attached to the end of a rescue robot's manipulator, existing methods require a separate power source for connection and disconnection, leading to complex structures, increased volume and weight, and higher production costs.
This technology implements a power-free connection/disconnection structure using a fastening unit (fastening member and elastic member) that interacts with protrusions on the magazine unit, a locking part on the bracket unit, and an attachment/detachment enhancement unit (pressure rod and pressure elastic member) that increases separation force. Applicable to industrial robots and automated systems, it eliminates the need for separate power sources for gadget module connection and disconnection, thereby improving the simplicity and cost-efficiency of the gadget integration structure.
This invention was developed with the support of the Ministry of Trade, Industry and Energy for the development of safety-guaranteed soft manipulators and multi-functional gadget technology for rescue operations.
This technology is a geometric calibration method that calculates the relative transformation matrix X between a vision system and a working tool. It utilizes multiple vision data points and tool position data acquired by rotating (pivoting) the end-effector of a robot arm around a fixed pivot point.
Conventional hand-eye calibration methods are complex yet yield low accuracy, and the discrepancy between the reference coordinate systems of the vision system and the working tool makes precise control difficult.
This technology constrains the positional change of the end-effector through a pivoting motion, calculates the vision system position vector and the tool marker position vector at each location, and then mathematically minimizes errors using the transformation matrix relationship between the pivot point and each device to derive the transformation matrix X. Applicable to robotic gripping, precision measurement, and automated equipment, it provides a hand-eye calibration method using pivoting motion to improve the accuracy of calculated results in vision-based intelligent industrial robots.
This technology is a feedforward and disturbance observer control technique that generates a dynamic model of an object as a transfer function using position and control input signals of a microrobot in a fluid, and then performs real-time correction of control input signals for position commands by inverse modeling to observe disturbances.
Existing control methods rely on simple position error-based fixed-constant control without considering the dynamic characteristics of microrobots in viscous fluid environments, making precise control difficult and leaving them vulnerable to disturbances.
This technology constructs a disturbance observer by deriving an inverse model based on the microrobot's dynamic model and improves system response speed and positioning accuracy by combining the user's position command signal with the output of the feedforward/feedback controller to determine the final control input signal. It can be applied to robotic gripping, precision measurement, and automated equipment, enhancing the precision and accuracy of microrobot control by accounting for their dynamic characteristics.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a micro-medical robot system for the treatment of chronic total occlusion in myocardial infarction.
This technology is a multi-gripper mechanism that connects vertically arranged first and second gripper units via a damping unit, allowing for the independent yet organic pressing and gripping of multiple stacked objects. The first gripper moves laterally, while the second gripper moves longitudinally. Through the telescopic and elastic members of the damping unit, the structure allows the second gripper unit to automatically adjust its height while pressing the second object during the gripping process of the first object.
Conventional single grippers are optimized for gripping objects with linear sides, making it difficult to pick up objects where the top protrudes outward relative to the bottom, and they suffer from the inefficiency of being unable to pick up stacked objects simultaneously.
This technology features a vertically arranged, laterally moving first gripper and a longitudinally moving second gripper, with a damping unit containing telescopic and elastic members between them. This configuration allows the second gripper unit to automatically adjust its height difference to stably grip the second object by utilizing the pressing force generated during the gripping of the first object. Applicable to logistics picking, manufacturing automation, and service robots, it increases processing efficiency by picking up objects with protruding tops or stacked items in a single motion.
