Detachable gripper module for handling tools and workpieces via a fingertip coupling interface

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.

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Key Features:

• A gripper module comprising a gripper body with a preset volume and a device module detachably coupled to it
• Finger bodies with one end rotatably connected to the gripper body, positioned on both sides in the width direction
• A coupling section formed with a structure that is recessed from the inner surface where the fingers face each other toward the outer surface
• A coupling aid protruding from the device module, designed to be inserted into the coupling section

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This invention was developed with support from the Grand ICT Research Center funded by the Ministry of Science and ICT.

High-DOF Robot Hand Combining Palm-Integrated Motors with Wire and Gear Drives

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.

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Key Features:

• A second finger module comprising a second base frame detachably coupled to the other side of the palm module, and a second finger unit connected to the base frame and composed of a plurality of second phalanges.
• The drive module includes a wire drive unit that provides driving force to wires individually connected to each of the plurality of first phalanges and the plurality of second phalanges.
• A first finger module comprising at least two or more first finger units, each composed of a plurality of first phalanges.
• A drive module mounted inside the palm module that operates at least two or more first finger units and the second finger unit.

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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.

Manual Tool Changer for Robots

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.

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Key Features:

• Upper mechanical plate featuring a component fixing groove with a guide hole on the bottom and a shaft bracket coupled to the shaft
• Fixing pin and link that slide through the elongated hole of the shaft bracket to rotate the link
• Lower mechanical plate including a cutout and guide pin that engage with the grooved hook bracket
• Structure where pushing the handle causes the shaft, link, and hook bracket to interlock, securely fastening the upper and lower plates

Automatic Tool Changer for Robots

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.

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Key Features:

• A rod bracket (113) in which a first fixing pin (112a) secured to a rod (112) is rotatably fitted into a first through-hole (113a), with a second fixing pin (114a) fixed to one side and a third fixing pin (114b) fixed to the other side,
• An automatic tool changer for robots, characterized by comprising a mechanical load plate (120) that includes a PCB (122) with electrical signal contact pins formed in its inner center.
• A link (114) where the second fixing pin (114a) is coupled to a second elongated through-hole (113b) formed in the rod bracket (113) to allow for rotation and sliding, with through-holes formed at both ends,
• A rod (112) with a first fixing pin (112a) fixed to one side, and a first through-hole (113a) and a second elongated through-hole (113b) penetrating vertically,

Tendon Device for Wearable Robots

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.

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Key Features:

• A first wire and a second wire, each fixed to the anterior and posterior sides of a user's joint, moving longitudinally as the joint bends or extends.
• A first moving device comprising a first frame connected to the first wire, a first moving part elastically supported on the first frame by a first elastic member, and a first acting part installed on the first moving part.
• A second moving device comprising a second frame connected to the second wire, a second moving part elastically supported on the second frame by a second elastic member, and a second acting part installed on the second moving part.
• A tendon device for wearable robots, including a connecting wire that applies force to the first and second moving parts in a direction opposite to the force applied by the drive wire.

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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.

Modular robot hand featuring abduction and flexion via constant velocity joints and bevel/spur gear linkages

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.

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Key Features:

• A first linkage module comprising a first linkage unit for the abduction/adduction (A/A) of the first finger module, and a second linkage unit for the flexion/extension of the first finger module.
• A second linkage module comprising a third linkage unit for the A/A of the second finger module, and a fourth linkage unit for the flexion/extension of the second finger module.
• At least two or more first finger modules detachably coupled to one side of the palm module.
• A drive module providing motive power to the first and second linkage modules.

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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.

3-DOF Robot Leg Actuator Transmitting Remote Driving Force via Tension Members

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.

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Key Features:

• A first hip joint unit positioned above the joint actuator, spaced apart from the joint actuator connected to the thigh
• A second hip joint unit positioned below the joint actuator and the first hip joint unit, spaced apart from them
• A central housing unit where the second hip joint unit is mounted on one side, and a central support unit arranged from the rear to the front of the central housing unit
• A tension member that connects at least two of the following: the thigh, the joint actuator, the first hip joint unit, the second hip joint unit, and the central support unit to apply tensile force

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This invention was developed with support from the Ministry of Science and ICT for a tensegrity robot system using pneumatic and tendon hybrid actuation.

Gadget Integration Structure System

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.

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Key Features:

• The gadget control module features a fastening unit that is at least partially inserted into the gadget module when connected.
• The gadget control module includes a control module housing that accommodates at least a portion of the fastening unit.
• A gadget control module that connects to and disconnects from a gadget module.
• The attachment/detachment enhancement unit facilitates the separation of the gadget module and the gadget control module by pushing the bracket unit away from the gadget control module once the connection between the fastening unit and the locking part is released.

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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.

Hand-Eye Calibration System

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.

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Key Features:

• A step of acquiring a first image of a pattern when the end-effector is at a first position and a second image of the pattern when the end-effector is at a second position, using a vision system provided on the end-effector.
• (C) A step of calculating the transformation matrix X between a specific point and the vision system, using the transformation matrix between the pivot point and the vision system, the transformation matrix between the pivot point and the specific point, and vectors A and B.
• A step of obtaining vector B from the position of the vision system at the first position to the position of the vision system at the second position, using the first and second images.
• are the rotation matrix and translation vector of X, is the translation vector of E, and is the translation vector of F.

Control Method for Microrobots and Device for Controlling Microrobots

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.

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Key Features:

• A control unit that determines the final control input signal for operating the microrobot based on a high-level control input signal derived from user input and an observed disturbance signal.
• A magnetic field generation unit that produces a magnetic field to operate the microrobot according to the control input signal.
• A position measurement unit that generates a position signal for the microrobot by tracking its location.
• A device for controlling microrobots.

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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.

Gripper device for simultaneous gripping of stacked objects using a dual gripper connected by a damping unit

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.

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Key Features:

• A first gripper unit comprising a first body with a preset volume and a pair of first grippers connected to the lower part of the first body to be movable in a lateral direction
• A second gripper unit comprising a second body with a preset volume and a second gripper connected to the lower part of the second body to be movable in a longitudinal direction
• A gripper device where the distance between the first body and the second body is reduced as the elastic member is compressed.
• A telescopic member with a variable length, having its lower end connected to the second body

Flexible Walking Robot Foot with Tensegrity-Based Shock Absorption

This technology is a robotic foot device based on a tensegrity structure. Multiple frames (forefoot, hindfoot, and ankle) are not physically joined directly but are held together by tension members (cables) to maintain tension and enable flexible walking movements.

Conventional rigid-body robotic feet have limited shock absorption due to their structure. Furthermore, because motors must be mounted directly onto the joint rotation axes, these systems are heavy and complex, making it difficult to achieve a wide range of motion.

This technology connects the forefoot, hindfoot, and ankle frames with cables (tension members), allowing for the adjustment of tension across the entire structure. This enables lightweight, flexible shock absorption and multi-directional rotation (dorsiflexion, plantarflexion, pronation/supination). By allowing the joint drive motors to be placed outside the ankle structure, the overall system weight is reduced. It can be applied to walking robots, disaster response robots, and off-road mobility platforms, providing shock absorption and flexible movement similar to a human foot.

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Key Features:

• Hindfoot section comprising a right hindfoot frame that intersects with the right forefoot frame, and a hindfoot connector between the left hindfoot frame and the right hindfoot frame
• First ankle section comprising a left ankle frame, an intermediate frame installed on the side of the left ankle frame, and a right ankle frame installed on the side of the intermediate frame opposite the left ankle frame
• Forefoot section comprising a left forefoot frame, a right forefoot frame, and a rear fixing bar connecting the left and right forefoot frames
• Tension member providing tensile force to at least one of the forefoot section, hindfoot section, first ankle section, or second ankle section

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This invention was developed with support from the Ministry of Science and ICT for a tensegrity robot system using pneumatic and tendon hybrid actuation.

Sewer Pipe Repair Robot Controlled via User Behavioral Data

This technology is a sewer pipe repair system mechanism that extracts 6-DOF motion data for repair tasks based on the user's biological signals (EMG, joint movement, etc.) and external force information to generate autonomous operation manuals, which are then used to control the manipulator.

The challenges include labor shortages due to the hazardous nature of sewer environments, as well as increased operator fatigue, reliance on individual skill levels, and the potential for safety accidents when using remote control systems.

This technology consists of a control module that uses a guide module to digitize user control actions and biological signals to generate autonomous operation manuals, and a mobile platform that actively maintains the manipulator's level through tilt measurement and cylinder control. It can be applied to robotic gripping, precision measurement, and automated equipment, improving the accuracy and efficiency of sewer repair work, enhancing user safety, and overcoming obstacles in the robot's path.

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Key Features:

• A guide module that measures the biological signals of the user operating the guide member
• A work platform including a repair module for chipping or removing debris from the inner walls of sewer pipes and a manipulator to control it
• A mobile platform that moves along the sewer pipe and controls the manipulator to maintain a level position relative to the ground
• A control module that generates autonomous operation manuals from measured biological signals and controls the work platform

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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.

Sewer Pipe Repair Device

This technology is a gate-type structure designed for the repair and inspection of sewer pipe inner walls. It features a mobile platform integrated with a frame consisting of horizontal and vertical components, allowing for autonomous movement. A mobile unit equipped with repair and inspection modules travels along rails installed on the frame to perform tasks.

Repairing aging concrete in sewer pipes poses significant safety risks to workers, including suffocation, electric shock, and falls. Furthermore, the need for automation is increasing due to a shortage of skilled labor and declining labor productivity.

This technology features a mobile platform for navigating the sewer floor, a rail structure capable of adjusting to the pipe's cross-sectional shape for omnidirectional repair and inspection, a depth control unit for enhanced efficiency, and sensor-based algorithms for leveling and distance control. Applicable to logistics, service robots, and autonomous platforms, it replaces manual labor with robotics for sewer pipe maintenance, significantly improving both operational efficiency and safety.

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Key Features:

• A frame assembly comprising a horizontal frame facing the ceiling of the sewer pipe and a pair of vertical frames coupled to both ends of the horizontal frame, extending downward to face the side walls of the sewer pipe.
• A mobile rail assembly that mirrors the shape of the frame assembly, positioned at a distance from it, partially connected to the frame, and featuring rails formed along its longitudinal direction.
• An inspection module coupled to the mobile unit that monitors the quality of the repair work or the condition of the sewer pipe's inner wall.
• A repair module coupled to the mobile unit that performs repairs on the ceiling and walls of the pipe.

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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.

Brush assembly and pipe cleaning robot equipped with the same

This technology secures the adhesion of a brush assembly by combining link members, which feature variable bending angles via a hinge structure to match the inner wall profile of a pipe, with leaf spring-based elastic members attached to the sides of the link members to prevent twisting and provide restorative force.

When cleaning pipes with varying diameters or bends, conventional fixed-brush structures suffer from reduced adhesion to the inner wall, leading to low cleaning efficiency and difficulty in removing debris.

This technology allows the link members to bend and deform according to the pipe's inner wall environment, while using elastic members (leaf springs) to prevent twisting at the hinge and ensure natural restoration to the original state. Furthermore, by connecting multiple link members with hinge axes and connecting components, it enables omnidirectional pipe cleaning. Applicable to industrial robots and automated systems, it improves cleaning efficiency and effectiveness in deep, narrow transport lines where high levels of toxic gas residue are likely.

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Key Features:

• A connecting member that links the common hinge axis of at least two first link members with the common hinge axis of at least two second link members
• At least two second link members spaced apart from each other in a second direction different from a first direction
• An elastic member mounted on the side of the link member that deforms according to the bending angle of the link member
• At least two first link members spaced apart from each other in a first direction

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of core human-centric wellness technologies.