This technology optimizes the pathfinding complexity of the conventional Backtracking Spiral Algorithm (BSA) by applying a landmark-based map reduction and decomposition mechanism for path generation in unknown environments.
When applying grid-based BSA algorithms in large-scale map environments, computational complexity increases in proportion to the map size, and the expansion of the path search space leads to delays in generating efficient coverage paths.
This technology introduces a preprocessing step that decomposes or reduces the map based on the presence of convex landmarks after detecting landmarks and classifying them as convex or concave, thereby efficiently managing the path search space by performing BSA on smaller, decomposed map units.
This technology features a mechanical structure that combines thimbles worn on the patient's fingers with a wire-driven system. It uses encoders and load cells to measure real-time tension and wire length, and employs an inverse kinematics-based control algorithm to precisely manage finger flexion and extension. By integrating a virtual reality (VR) interface, it provides visual feedback to enhance rehabilitation outcomes.
Existing hand rehabilitation robots are often bulky, heavy, expensive, and limited in their range of motion. Some non-wearable systems struggle with precise control or lack the actuators necessary for patients with complete paralysis.
This technology utilizes a wire-driven mechanism that pulls or releases flexion and extension wires connected to the thimbles via motors. By transmitting motor rotation data from encoders and tension data from load cells to the control unit, the system calculates and calibrates the position of the thimbles in real time, enabling precise finger movement rehabilitation.
This technology reduces positioning errors caused by airframe vibration and abrupt maneuvers by identifying abnormal acceleration segments that exceed a specific threshold during drone flight, setting them as a dead-band, and excluding that time data from position calculations.
Drones experience frequent movements and airframe vibrations for attitude control during flight, which introduces irregular noise into Inertial Measurement Unit (IMU) data, leading to cumulative errors in velocity and position estimates.
This technology establishes a threshold by measuring vibrations before takeoff and ensures the reliability of the positioning algorithm by filtering out data points where acceleration measurements exceed this threshold during flight.
This technology is a manufacturing method for micro-drills, and the resulting micro-drill, which uses a 3D-printed layered mold to form the drill's shape and surface pattern, with an embedded magnet that allows it to be driven by an external magnetic field.
Existing MEMS processes involve high manufacturing costs, complex processing times, and difficulty in modifying designs, while also facing technical limitations in implementing sharp blades on the micro-drill surface.
This technology proposes a simple process that transfers the layered patterns of 3D printing to the inside of the mold to form micro-patterns on the drill surface, followed by dissolving or softening the mold for removal. It can be applied to the production of micro-robots for thrombus removal and medical instruments for internal procedures, significantly reducing manufacturing costs and time while ensuring design flexibility.
This invention was developed with support from the Ministry of Science and ICT for the development of 3D printing-based, biosignal-responsive, customized implant devices for smooth urination in patients with lower urinary tract symptoms.
This technology features an exoskeleton robot that detects gait intention by placing pads on the front and back of the wearer's thighs, linked together to pivot around a central point. The displacement of the pads during leg movement triggers contact and pressure changes in the sensors, allowing the system to interpret the user's intent.
Conventional methods, such as electromyography (EMG) sensors, require attachment to deep muscle tissue, leading to complex structures and high costs. Furthermore, sensors attached to flexible straps often shift during movement, resulting in poor accuracy for gait intention detection.
This technology uses a mechanical approach to detect gait intention by securing a connecting link to the thigh support and designing the protrusions on the front and rear push pads to selectively press against pressure sensors. Applicable to gait rehabilitation and industrial strength assistance, it provides a low-cost, reliable solution for intention recognition without the need for biosignal sensors.
This technology provides upper limb exercise by receiving user input for upper limb movement, driving vertical and horizontal motion units, and providing haptic feedback through monitor integration.
Existing upper limb rehabilitation devices have faced issues such as lack of mobility due to fixed structures, absence of haptic feedback, and limited range of motion.
This technology combines a multi-directional horizontal movement unit using swivel wheels with a vertical movement unit, and implements haptic functions that stimulate the user's proprioception and sense of touch through a monitor-linked feedback system. Applicable to industrial robots and automation systems, it overcomes the limitations of conventional upper limb devices by providing enhanced haptic feedback and a wider range of motion for the user.
This technology is a gripper device mounted on the end of a robot arm, capable of selectively performing gripping tasks and switch-pressing operations. It features a rotatable pressing bar inside the gripper jaw and utilizes surface contact between a polygonal end and an elastic member (leaf spring) to stably lock the rotation position or switch the rotation state semi-automatically.
In remote working environments, the need to repeatedly swap robot grippers to perform different tasks—such as operating instrument panel switches, controlling valves, or grasping objects—has historically led to reduced operational efficiency and increased costs.
This technology incorporates a gripper button unit (pressing bar) rotatably mounted on the gripper jaw, designed to rotate and lock in 90-degree increments using a polygonal chamfered section at one end of the bar and an elastic member. By limiting the rotation angle via a stopper and a rotation-blocking unit, the structure allows the pressing bar to be retracted during gripping and extended for switch operation. Applicable to logistics picking, service robots, and manufacturing automation, this robot gripper enables the performance of diverse tasks without tool changes, thereby improving the efficiency of remote maintenance operations and ultimately increasing human resource efficiency.
This invention was developed with support from the Ministry of Knowledge Economy for the development of remote operation service engines and force-feedback remote-controlled robot system technologies for remote tasks.
This technology is a suit-type master device that implements 9 degrees of freedom by mimicking human upper limb anatomy. It provides shoulder protraction and retraction through a scapular section featuring an open 4-bar linkage structure, and controls position and force feedback via integrated actuators and encoders placed at each joint.
Conventional suit-type master devices are limited to simple ball-joint models that cannot replicate shoulder protraction and retraction, failing to fully reflect human upper limb kinematics and limiting the precision of force control and remote operation for industrial robot arms.
This technology constructs a multi-degree-of-freedom master arm consisting of a back frame-based scapular section, shoulder section, upper arm section, lower arm section, and handle section. It features implementation of forward and backward movement via the 4-bar linkage of the scapular section, reaction force control through joint-specific encoders and actuators, and user force measurement using load cells and adjustable length mechanisms for the upper and lower arm sections to fit the user's physique.
This technology implements a closed-chain mechanism that utilizes a pair of parallel-arranged Series Elastic Actuators (SEA) for roll and pitch control of a robotic ankle, forming a three-point support structure with the shank.
Conventional single-actuator ankle structures suffer from limited load-bearing capacity, low impact resistance, and structural constraints that hinder stable gait on diverse terrains.
This technology connects the parallel SEAs and the shank using a first upper coupling and a second lower coupling (a combination of universal joints) to form a closed-chain, three-point support structure, enabling roll and pitch rotation of the foot through independent actuator operation.
This technology enables real-time adjustment of reaction forces during joint movement using a variable stiffness actuator installed in the joint of an exoskeleton robot. By placing an elastic member between an inner rotor connected to the joint axis and an outer support, and using a linear actuator to shift the physical position of the elastic member, the system variably controls the radius of rotation and the level of elasticity.
Conventional exoskeleton systems lack a mechanism to actively adjust joint reaction forces (haptic feedback) to a user's desired level, which limits the optimization of gait assistance and rehabilitation therapy.
This technology features a cross-shaped inner rotor connected to the joint axis and a rectangular outer support frame fixed to the first link, with an elastic member positioned between them that can translate along a movement slot. An adjustment actuator (linear actuator) controls the position of the elastic member to increase or decrease reaction force, while a torque sensor measures the force, allowing the control unit to perform feedback-based regulation.
This technology provides a kinematic mechanism that adjusts the stiffness and reaction force of exoskeleton joints in real-time using a variable elastic element (with elastic members placed between a rotatable outer rotor and a cross-shaped inner rotor) and an adjustable actuator.
Existing exoskeleton systems lack the means to precisely control joint haptic feedback (reaction force) to meet user requirements, which limits the wearer's comfort and the effectiveness of rehabilitation therapy.
This technology variably controls external reaction forces by adjusting the displacement of elastic members placed between an inner rotor connected to the joint axis and an outer rotor rotated by an adjustable actuator, while performing feedback control via torque sensors to reach target reaction force levels.
This technology features a facade cleaning robot that controls its center of gravity by shifting the point of application of rope tension. It utilizes an LM guide installed on the upper part of the robot body, along which a moving unit travels, allowing the robot to selectively lift specific wheels away from the wall surface when navigating obstacles.
Existing wheel-based robots require wheels larger than the obstacles themselves, propeller-based models suffer from complex control and low energy efficiency, and legged robots are hindered by slow speeds and poor efficiency.
This technology uses a moving unit equipped with an LM guide and ball screw to physically shift the tension application point, while obstacle detection sensors and a control unit adjust the relative position to lift specific wheels. Applicable to high-rise building facade cleaning and painting, it ensures operational continuity by easily clearing protruding obstacles like window frames.
This invention was developed with support from the Ministry of Science and ICT for the development of AI-based adaptive control algorithms for various types of facade cleaning robots.
This technology is an IPL robotic sterilizer and IPL sterilizer that controls sterilization energy density during operation by sensing the rotational speed and direction of the drive wheels to differentially apply first and second pulse voltage sets.
Conventional UV sterilization devices have long sterilization times and are harmful to humans, while simple IPL irradiation methods have suffered from uneven sterilization efficiency, delaying their widespread adoption.
This technology implements active control where a controller adjusts unit pulse voltage, application time, cycle, and pulse width based on movement speed, direction, and rotation status, while optimizing the irradiation area through a light guide unit. It can be applied to disinfection robots in hospitals and public facilities, ensuring uniform sterilization performance regardless of travel speed.
This technology is a robotic system for building maintenance that measures the luminance and depth information of a structure via a vision module, identifies protrusions, depressions, and cracks using a control module, and independently operates chipping (removal), injection (filling), and sealing modules.
Existing construction robots are primarily specialized for the construction phase, and there is a lack of professional automated equipment and technology capable of performing maintenance on aging or poorly designed structures.
This technology is an integrated building management solution that automatically detects protrusions (chipping), depressions (injection), and cracks through vision data analysis. It specifically prevents damage to rebar by using color analysis to determine if rebar is present within a protrusion, and controls robot positioning and work tools via movement and manipulation modules. It can be applied to robotic gripping, precision measurement, and automated equipment, thereby improving the efficiency of building management by automating tasks such as defect detection and repair.
This invention was developed with support from the Ministry of Knowledge Economy for the development of remote operation service engines for remote tasks and force-feedback remote-controlled robot system technology.
This technology is a non-stop battery swapping system that physically releases and engages battery locking mechanisms (locking protrusions, triggers, rack and pinion) while the robot is in motion. It ensures continuous power supply via power rails during the battery swap, allowing the system to operate without interruption.
Conventional battery swapping requires devices like robots to stop, leading to system downtime and reduced operational continuity due to power interruption.
This technology enables non-stop swapping through a mechanical separation unit where an insertion protrusion on the path pushes the battery trigger to release the locking mechanism, a mounting unit that installs a new battery along a guide, and a power rail-based supply unit that compensates for voltage differences during the swap. Applicable to industrial robots and automated systems, it enhances the efficiency and convenience of battery replacement processes across various devices.
This invention was developed with support from the Ministry of Education, Science and Technology for the development of intelligent robot convergence technology for new and renewable energy.
