Multi-DOF Joint Mechanism with String Sets for Shock Absorption and Posture Restoration

This technology implements a multi-degree-of-freedom (DOF) joint mechanism that uses string sets to minimize mechanical interference between joint components, absorb external shocks, and restore the initial posture.

Conventional robot arm joints suffer from user discomfort due to the transmission of external shocks caused by their rigid structures and the weight burden when worn as prosthetic limbs.

This technology connects joint components with string sets to reduce weight and allows each component to rotate while spaced at a predetermined distance, providing shock absorption and restorative force. It can be applied to robotic prosthetics, wearable robots, and collaborative robots to minimize external shock transmission while enhancing durability and comfort.

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Key Features:

• A first joint component that rotatably supports a 2-1 joint component configured to rotate in a first direction
• A 2-2 joint component configured to intersect with the 2-1 joint component as it rotates in a second direction relative to the 2-1 joint component
• A first string set connecting the first joint component and the 2-1 joint component to provide a first degree of rotational freedom
• A second string set connecting the first and 2-1 joint components to the 2-2 joint component to provide a second degree of rotational freedom

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

Tendon device for wearable robotic clothing to assist muscle strength

This technology is a mechanical mechanism that assists in the flexion and extension of human joints. It features a pair of wires and tendon modules with built-in individual torsion springs, enabling precise muscle strength assistance for each joint by calculating wire tension through torsion spring displacement measured by pulley encoders.

Conventional technology uses a single pulley for symmetrical joint movement, which leads to wire length imbalances. This makes it difficult to provide muscle support during irregular movements such as walking on stairs or inclines and limits control due to the inability to measure wire tension.

This technology applies independent tendon modules for each wire and installs torsion springs inside the pulleys to maintain wire tension and ensure back-drivability. It performs precise control by measuring human-robot interaction forces in real-time using the rotation angles calculated by pulley encoders and the spring constants. It can be applied to rehabilitation training, gait assistance, and medical/welfare services, improving precise control over joint movement and enhancing muscle strength support for daily activities.

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Key Features:

• A control unit that outputs control signals by calculating signals generated by the movement of the first and second wires in the first and second tendon modules, based on the tension of the first and second wires measured by the first and second pulley encoders.
• First and second wires that are fixed to the anterior and posterior sides of the user's joint, respectively, and move longitudinally according to the flexion and extension of the joint.
• A drive unit around which either the first or second wire is wound to assist the muscle strength of the agonist muscle during joint movement.
• A tendon device for wearable robotic clothing that provides muscle strength assistance, where the torsion of the second torsion spring maintains the tension of the second wire while providing back-drivability.

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This invention was developed with the support of the Ministry of Trade, Industry and Energy for the development of a wearable robotic system consisting of a 50W-class drive module for human muscle strength assistance and a human-robot muscle model-based control technique.

Control System for Human-on-a-Chip

This technology utilizes multiple magnetic field coils to apply independent external magnetic fields to the entire or local areas of a human-on-a-chip, enabling the actuation (fluid flow control) and precise positioning (organ docking) of microrobots injected inside.

Existing human-on-a-chip systems rely on constant flow control using external pumps, which makes local precision control difficult and results in complex structural designs and low efficiency when docking artificial or micro-organs at specific locations.

This technology uses independently arranged magnetic field coil units around the chip network to perform local/global magnetic field steering and intensity modulation. By controlling the rotational speed and direction of helical or propeller-type microrobots, it simulates fluid flow or precisely docks microrobots at target locations. Applicable to industrial robots and automation systems, it improves the efficiency of micro-organ positioning and fluid flow within the network, enabling the creation of environments that closely mimic the human body.

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Key Features:

• Local area magnetic field coil unit that applies an external magnetic field locally to areas of the biological organ model and network.
• The magnetic field coil device includes a global area magnetic field coil unit that applies an external magnetic field across the entire chip area.
• The global area magnetic field coil unit controls the positions of multiple microrobots simultaneously to collectively place them at pre-determined micro-organ locations within the human-on-a-chip control system.
• A network connecting the micro-organs that constitute the biological organ model.

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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 microstructures and cell/drug delivery-based technology.

Pneumatic Artificial Muscle with Enhanced Response Speed Using Elastic Energy

This technology relates to a pneumatic artificial muscle unit and its operating method that utilizes elastic energy. By incorporating passive elastic elements, it achieves rapid contraction and relaxation movements.

Conventional pneumatic artificial muscles suffer from slow response speeds and limited contraction rates due to the time required for pressurization and exhaust, which significantly hinders real-time motion assistance in wearable and collaborative robots.

This technology combines an inelastic sleeve and an elastic tube with a tension spring to store and release elastic energy, thereby improving response speed and enabling rapid contraction and expansion.

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Key Features:

• An inelastic sleeve that forms the pneumatic artificial muscle unit and performs repeated contraction and expansion movements along its longitudinal axis.
• A gas inlet connected to one end of the inelastic sleeve for gas injection, and an exhaust valve connected to the other end for gas discharge.
• A tension spring and an elastic tube positioned between the gas inlet and the exhaust valve within the inelastic sleeve to accumulate elastic energy.
• A trigger mechanism that opens the opening/closing member within the exhaust valve when the inelastic sleeve reaches a predetermined expansion length.

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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 running 100m in 7 seconds and being worn comfortably for 12 hours, and from the Ministry of Science and ICT for the development of core technologies for human-robot interaction-based hybrid control and interface design for safe and efficient collaboration, mobility, and rehabilitation.

Multi-directional Sensing Wearable Device for Human Motion Assistance

This technology relates to a wearable device for assisting human motion, which detects multi-directional movement and provides assistive force through sensors composed of internal/external electrodes and deformation elements.

Existing wearable sensors could only detect deformation in a single direction, making it difficult to accurately capture complex joint movements, and achieving multi-directional sensing often led to complex configurations and increased costs.

This technology implements multi-directional sensing with a simplified electrode structure, and an actuator provides assistive force based on the sensing results to support human motion. It can be widely applied to robotic hands, gait assistance devices, and more.

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Key Features:

• An inner electrode positioned at the center of a circle and a plurality of outer electrodes arranged at equal intervals along the circumference
• A plurality of deformation elements disposed between the inner electrode and each outer electrode, made of a material whose resistance changes upon deformation
• A control device that applies different control signals to an actuator based on the combination of different resistance values from each deformation element
• An actuator that assists the wearer's physical movement by operating based on the different control signals applied by the control device

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This invention was developed with support from the Ministry of Science and ICT for self-powered multifunctional fabric manufacturing technology.

Multi-legged walking robot with pneumatic support for stance phase

This technology features a multi-legged walking robot equipped with multiple independently driven leg units. Pneumatic devices connected to the hip and knee joints of each leg unit assist the actuator torque required for ground support during the stance phase and disengage during the swing phase.

Multi-legged robots typically require high torque during the stance phase, which places excessive load on the actuators. This hinders rapid leg movement during high-speed locomotion and reduces overall energy efficiency.

This technology proposes a method to toggle the pneumatic assistance based on the stance and swing phases, allowing the actuators to drive the joints more efficiently. It can be applied to high-speed robots, rough-terrain exploration, and military robot platforms, significantly reducing the burden on actuators while improving both speed and energy efficiency.

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Key Features:

• Includes multiple independently driven leg units, with each leg unit featuring a hip joint driven by an actuator.
• Includes a femoral member connected at one end to the hip joint, which rotates in response to the hip joint's movement.
• A knee joint connected to the other end of the femoral member, and a lower leg member connected at one end to the knee joint.
• Pneumatic devices mounted on the hip and knee joints to provide support during the leg unit's stance phase.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for research into new hybrid actuators for high-speed robots.

Underwater Tunnel Module Joining Monitoring System Combining Sonar and Line Laser Scanning

This technology is an underwater monitoring system that identifies the relative position between an existing tunnel module and a connecting module using sonar, and calculates the gap, height difference, and 3D imagery of the joint using a mobile underwater scanning device equipped with a line laser projector and an underwater camera.

In underwater environments, GPS is unavailable and visibility is low, which limits the use of optical sensors. Furthermore, the difficulty of deploying divers has historically made precise positioning and guidance for tunnel module joining a significant challenge.

This technology proposes a method that first verifies the distance using sonar, then performs a precise scan of the joint with an underwater scanning device to compare the 3D coordinate endpoints of the surface projected by the line laser, thereby deriving the gap and height difference. Applicable to the construction of underwater tunnels and subsea structures, it enables precise joining without the need for divers, significantly enhancing construction safety and accuracy.

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Key Features:

• Sonar device that identifies the relative position between the existing tunnel module and the connecting tunnel module within the sonar imaging range
• Underwater camera that captures images of the area where the two tunnel modules are to be joined
• Laser projector that casts a line laser onto the existing and connecting tunnel modules
• System configuration that calculates the joint gap and height difference by comparing the 3D coordinates of the surface projected by the line laser

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

Gripper with integrated fastening function using magnetic gears for simultaneous gripping and screw tightening

This technology utilizes a magnetic gear to split rotational force from a single power source, enabling a gripper to perform both part gripping and fastening without the need for a separate electric screwdriver. Its non-contact torque transmission prevents excessive gripping force.

Existing solutions often require expensive tool changers to switch between grippers and electric screwdrivers. Furthermore, using separate power sources leads to energy waste, reduced control efficiency, and the risk of damaging components.

This technology features an integrated design that transmits motor torque to a magnetic gear composed of primary and secondary rotating magnets, simultaneously driving the gripping mechanism and rotating the fastening tool holder. It ensures stable fastening through a lead screw-based anti-backdrive gripping mechanism. Suitable for electronics assembly and automated production lines, it significantly reduces cycle times and equipment costs by eliminating the need for tool changers.

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Key Features:

• Single drive unit providing rotational power to both the magnetic gear and the fastening module
• Magnetic gear system comprising a primary rotating magnet connected to the drive unit and a secondary rotating magnet driven by the primary one
• Fastening module connected to the drive unit that performs tightening tasks by rotating components such as screws
• Gripping module driven by the secondary rotating magnet to securely hold screws for fastening

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of intelligent robot technology capable of recognizing and assembling objects in real-world environments based on given work plans.

Gait Assistance System Predicting Ankle Stiffness via EMG-based Machine Learning

This technology is a gait assistance system that calculates the predicted stiffness of the ankle joint by analyzing the wearer's lower limb electromyography (EMG) signals using LSTM or CNN-based machine learning algorithms, and controls the ankle joint angle by integrating data from foot contact sensors.

Existing stiffness prediction methods using muscle models or mathematical linearization formulas have suffered from low accuracy, as they fail to fully account for the non-linear characteristics and time-varying states of muscles.

This technology proposes a method that trains machine learning algorithms based on EMG and stiffness data from multiple pedestrians to predict real-time stiffness, while utilizing combined data from toe and heel contact sensors to calculate target angles. It can be applied to rehabilitation therapy and gait assistance for the elderly, providing natural gait support by adapting in real-time to changes in the wearer's muscle condition.

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Key Features:

• A gait assistance robot worn on the user's foot to assist walking by adjusting ankle joint stiffness
• A plurality of EMG sensors attached to muscles associated with ankle movement to detect electromyography signals
• A stiffness prediction unit that receives EMG signals and outputs predicted stiffness through a machine learning algorithm
• A robot control unit that regulates the ankle joint stiffness of the gait assistance robot based on the predicted stiffness

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This invention was developed with support from the Ministry of Culture, Sports and Tourism's project for hybrid smart clothing and monitoring systems for enhanced athletic performance, and the Ministry of Science, ICT and Future Planning's Human-Centered Soft Robot Technology Research Center.

Robot Tidying System Combining Image Segmentation and Deep Reinforcement Learning

This technology is a tidying system that controls an articulated robot to match the arrangement of multiple target objects in an unstructured environment to a target image. It uses an image segmenter to process current and target images, then sequentially applies deep reinforcement learning-based task sequencing and motion estimation models.

Existing cleaning robots are limited to simple suction tasks, and tidying objects in unstructured environments has historically been inefficient and inflexible, requiring operators to manually pre-define sequences and locations.

This technology proposes a method for planning final robot motions by combining AI-based image segmentation, deep reinforcement learning-based task sequencing and motion estimation, 3D point cloud processing, and generative adversarial networks. This allows the robot to autonomously establish tidying plans without pre-defined instructions. It can be applied to home service robots and automated retail display systems, significantly expanding the range of household and service tasks that robots can perform.

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Key Features:

• An image capture unit that generates a current image by capturing the target area where multiple objects are distributed
• An AI-based image segmenter that segments the target image and the current image, respectively
• A tidying planner that receives the segmented target and current images to establish a tidying plan
• A configuration including a task sequencing model that estimates the next object to be tidied

Multi-Platform Collaborative SLAM System Using Non-Static Feature-Based Rendezvous Detection

This technology is a vision-based collaborative simultaneous localization and mapping (SLAM) system. To identify rendezvous situations between multiple platforms and fuse individual SLAM maps, it uses an optimization algorithm at a ground station to compare and calculate the movement of non-static features extracted from each platform, along with the similarity of pose and map information between platforms, to perform inter-platform matching.

Existing collaborative SLAM systems have faced significant limitations in sensor configuration and operation, as they often require visual markers for platform identification or demand precise distance information.

This technology proposes a method that tracks and manages non-static features—which are typically discarded in images collected by monocular cameras—without the need for separate markers. By formulating the detection of inter-platform rendezvous as an optimization problem, it enables the fusion of individual maps and pose data at a ground station, allowing for collaborative mapping among multiple robots with a simple sensor setup. It can be applied to multi-drone exploration, collaborative mapping in disaster zones, and indoor autonomous navigation. Since it is implemented using only a monocular camera without markers or expensive sensors, it significantly reduces system construction costs.

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Key Features:

• A step where each of the multiple platforms estimates camera pose and creates an individual map based on camera input images using a single SLAM method.
• A step of extracting and managing non-static features from camera input images to be used for rendezvous determination.
• A step of transmitting camera pose, individual maps, and non-static features as platform data to a ground station.
• A step where the ground station determines whether a rendezvous situation has occurred based on the platform data and fuses individual maps into an integrated map.

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This invention was developed with support from the multi-ministry project for the development of autonomous driving assistance robots for foldable wheelchairs.

Multi-Object Sequential Gripping and Stacking Gripper with Polymer Storage

This technology is a multi-object gripping gripper featuring a storage unit composed of multiple polymer belts and bristle elements. By combining finger members, link members, slider members, and a tendon-driven mechanism, it performs flexible multi-object gripping and sequential storage operations.

Conventional multi-object gripping grippers have limited utility in environments where object arrangement is inconsistent due to their fixed gripper structure, and they lack the capability for simultaneous multi-object gripping and storage of unaligned items.

This technology proposes a method that integrates a drive unit—consisting of finger members, finger connecting members, sliders, and links—with an internal storage unit containing polymer belts and bristle elements. It controls the gripper's rotational and translational motion using gripping and transmission tendons, allowing it to grip individual objects and stack them sequentially into the internal storage. This significantly improves operational efficiency in fields requiring continuous processing of multiple objects, such as logistics sorting, agricultural harvesting, and waste sorting, thereby maximizing productivity in automated lines.

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Key Features:

• Multiple gripper units that grasp individual objects and transport them to the storage unit via the drive unit's operation
• A storage unit containing multiple polymer sections that receive and sequentially stack objects grasped by the gripper units
• A single drive unit that simultaneously triggers the gripping action of the gripper units and the transport of objects to the storage unit
• A structure where objects are moved between multiple polymer sections and stored through the operation of the drive unit

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This invention was developed with support from the Ministry of Trade, Industry and Energy's project for developing collaborative assistive robot arms using foldable hybrid-driven soft robot technology, and the Ministry of Science and ICT's Human-Centered Soft Robot Technology Research Center.

Deployable High-Strength Robotic Arm Combining Folding/Rolling Storage with Rigid Folded Structures

This technology is a deployable robotic arm that utilizes multiple panels wound around a hub. By applying sliding and folding mechanisms, it minimizes volume through a rolling method during storage and achieves high structural rigidity upon deployment by forming a folded structure via shape-forming and shape-maintaining devices.

Conventional deployable robotic arms have faced technical limitations where storage efficiency and structural rigidity are in conflict due to link joint play, weakened strength at folding lines, and thickness constraints inherent in rolling structures.

This technology proposes a method where panels with sliding and folding structures are stored by winding them around a hub. Upon deployment, a shape-forming device guides the panels into a folded structure, while a shape-maintaining device—equipped with a spacing adjustment mechanism and a wire winder—ensures structural rigidity in the deployed state. This allows for both high storage efficiency and high rigidity. It serves as an innovative solution to the fundamental limitations of existing robotic arms in fields requiring both portability and strength, such as space structures, disaster site exploration equipment, and mobile service robots.

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Key Features:

• A hub configured to rotate forward or backward to wind or unwind multiple panels
• Multiple panels with sliding and folding structures that deploy and retract as they are unwound from or wound onto the hub
• A shape-forming device coupled to the panels that guides them into a folded structure as they are unwound from the hub
• A shape-maintaining device that sustains and extends the folded structure formed by the shape-forming device

Tensegrity Rolling-Sphere Joint Implementing Non-Contact Rotation via Wire Force Equilibrium

This technology is a joint mechanism based on a tensegrity structure that maintains a non-contact state between a first body and a second body, providing rotation and flexibility through wire integration. It utilizes the equilibrium of wire forces to perform rotational movement without physical contact between bodies and controls stiffness and range of motion by adjusting wire tension during external impacts.

Conventional rigid-body joints have faced issues such as the transmission of external shocks, a lack of rotational flexibility due to control limitations, and reduced durability caused by physical friction and wear between bodies.

This technology places a spacer between the first and second bodies and utilizes wire members (first, second, and third connecting wires) to implement a tensegrity structure. A drive motor pulls the wires to induce rolling motion along a virtual circumference, while the inclined design of the frame physically limits the range of motion. Applicable to collaborative robots, wearable robots, and precision manipulators, it enhances rotational performance and longevity by eliminating friction and wear between bodies.

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Key Features:

• A first body and a second body disposed to face each other at a distance, forming both ends of the rolling-sphere joint
• A connector disposed between the first and second bodies, maintained in a non-contact state with both bodies
• Connecting wire members that link the first body, second body, and connector to form a tensegrity structure
• The connecting wire members include first through third connecting wires that maintain the tensegrity structure by achieving a state of force equilibrium

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

Biomimetic Joint Mechanism Combining Tendon Tension and String Resilience

This technology is a biomimetic joint mechanism that performs bending motions using tendon tension and returns to its initial position using the resilience of a string set. It is designed to allow joint rotation without bearings by connecting multiple bodies with strings at set intervals.

Existing robot joints suffer from mechanical wear, discomfort due to heavy components, a lack of biomimetic structure, limited shock absorption, and increased control complexity.

This technology constructs joints by connecting bodies with tendons and multiple strings, eliminating direct contact between the bodies. Bending is controlled via tendon tension, while the tensile elasticity of the strings provides natural restoration. By asymmetrically adjusting the tension of certain strings, the range of motion during rotation can be variably limited to enhance gripping force. Applicable to wearable robots, prosthetic hands, and collaborative robots, it enables bearing-free joint operation while improving durability and wearer comfort.

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Key Features:

• A first body equipped with a fastening part where the tendon is secured, spaced apart from the center toward the top in the height direction
• A second body connected to the first body by a first string set and equipped with a first pulley for housing the tendon
• A first tendon guide provided between the fastening part and the first pulley to guide the tendon downward
• A first string set consisting of strings 1-1 through 1-4 that connect the opposing wings of the first and second bodies

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