This technology precisely calibrates the position of a robot arm's end-effector by using external sensors to track markers attached to the arm and a fixed reference marker, calculating the error between the robot arm's real-time displacement and the sensor data.
In industrial robotics, calibrating the position of a robot arm often requires cumbersome manual teaching or the input of separate setup devices, and errors occurring during the teaching process have historically made high-precision tasks difficult to perform.
This technology simultaneously senses a ring-shaped first marker attached to the robot arm and a second marker serving as an external reference point using an external sensor unit. By comparing the robot arm's actual operational displacement with the changes in marker position and performing geometric calculations, it derives position calibration values for the end-effector. Applicable to robotic gripping, precision measurement, and automated equipment, it improves the accuracy of positioning a robot arm in free space using markers and sensor units.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of intelligent controller technology applicable to various multi-joint commercial robots and specialized for bin-picking and loading/unloading tasks.
This technology is a control and kinematic operation system for a towing-type robot, where an autonomous transport robot (100) loaded with flooring materials is towed by an autonomous working robot (200), which then receives the materials sequentially from the transport robot to automatically install them onto the floor surface.
Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, because a single robot is responsible for both transport and installation, work efficiency is reduced, and the lack of specialized sensor modules for floor construction limits their practical application in the field.
This technology involves building a robot system where the transport robot’s material supply mechanism (lift drive and supply unit) pushes the bottom-most material to the working robot’s gripper module (arm). The two robots are connected by a coupling link and move together, performing sensor-fusion-based driving control and real-time installation inspection. Applicable to logistics, service robots, and autonomous platforms, this system improves construction safety by isolating workers from high-risk tasks, enhances construction productivity, and reduces the incidence of musculoskeletal disorders.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology is a blockchain-based certificate system where an issuer device issues a certificate containing a digital signature upon a user terminal's request. Issuance information is stored off-chain, while select data is synchronized on-chain, allowing service provider terminals to verify certificates via the blockchain.
Existing certificate management methods face challenges in verifying authenticity and preventing tampering, while also posing privacy risks as users' personal information contained in certificates is exposed directly on the blockchain.
By storing sensitive information such as personal data off-chain and synchronizing only the information necessary for verification on-chain, this technology can be applied to various electronic certification services, such as infectious disease prevention certificates, to verify authenticity while protecting personal privacy.
The fixed price for this patent is 1 billion KRW, though the price is negotiable based on the terms of purchase.
Standard Patent Information
Domestic and international standards related to the patented technology: TTA Information and Communication Standard TTAK.KO-12.0374
This technology is a system that connects an autonomous transport robot (including a loading bay) and an autonomous work robot equipped with a gripper module using a variable-length coupling link. It features a mechanical coupling and control mechanism that allows the work robot to approach the transport robot, extract finishing materials, and move to install them onto floor leveling materials.
Existing construction robots faced limitations in field application due to task-specific constraints, reduced work efficiency, and a lack of sensor modules for floor installation.
This technology designs a structure for precise material extraction by controlling the distance between the two platforms through the variable-length function of the coupling link. By integrating a gripping mechanism based on arm parts and embossing protrusions, along with motion control and inspection sensor modules, it automates autonomous installation and quality checks. Applicable to logistics, service robots, and autonomous platforms, it enhances construction efficiency and safety by automating tasks and reducing the need for manual labor in high-risk activities.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology features a cube-shaped robot body and a mobile platform as its core modules. It allows for flexible adaptation to construction sites by modularly attaching and detaching components such as articulated arms, lift arms, and drive modules via first and second interfaces located on each side of the unit.
Existing construction robots are often limited to specific tasks, resulting in low versatility. Furthermore, the need to operate separate dedicated robots for each process leads to excessive development and investment costs.
This technology enables the selective attachment of work modules to the sides of the robot body and drive modules to the mobile platform via specialized interfaces. It includes autonomous navigation using real-time positioning data and floor-marker-based installation positioning. Applicable to logistics, service robotics, and autonomous platforms, this system improves the adaptability of construction robots to various tasks and environments, while reducing development costs and investment risks, ultimately enhancing productivity and safety.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology provides a geometric method for numerically calculating the workspace of multi-degree-of-freedom robots. It simplifies high-degree-of-freedom robot models into lower-degree-of-freedom models by representing certain links as a single virtual link (pseudo-arm) and applies the Jacobian determinant to determine the boundaries and union of the workspace.
Due to the lack of existing technologies for effectively calculating the workspace of planar robots with 3 or more degrees of freedom or spatial robots with 4 or more degrees of freedom, there are limitations in real-time safety monitoring and collision avoidance control for these robots.
This technology replaces multiple links with a virtual "pseudo-arm" connecting the origin to the end joint. It models the system as a 2-DOF planar or 3-DOF spatial robot based on its kinematic structure and uses the Jacobian matrix to numerically calculate the workspace based on the maximum and minimum length variations of the links. Applicable to industrial robots and automation systems, this method improves operational efficiency and safety by providing a precise way to calculate robot workspaces.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of functional safety implementation technology and risk assessment/reduction technology based on international standards for robots operating in human-contact environments.
This technology implements a multi-joint link structure that provides 6-DOF compliance, along with a strain sensor-based joint device for control and measurement. Stiffness can be adjusted through a combination of rotational, universal, and ball joints, while structural yielding is prevented by limiting displacement with stoppers.
Torque sensors used in conventional robot joints are costly and complex, while simple compliance devices struggle with precise force/displacement measurement or active misalignment compensation.
This technology provides physical compliance by placing multiple flexible links between a first and second plate, and calculates displacement and force/moment by attaching strain sensors to each link. It incorporates a mechanical structure that prevents link damage by limiting allowable displacement via stoppers. Applicable to robotic gripping, precision measurement, and automation equipment, it prevents sensor damage and enables feedback control, thereby improving the accuracy and efficiency of assembly processes.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a smart gripper with built-in force/torque sensing and object recognition, designed for easy implementation in manufacturing environments.
This technology provides a two-stage collaborative construction automation system in which an autonomous transport robot loads and supplies flooring materials, which are then received and installed onto the floor surface by a connected autonomous work robot.
Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, because a single robot performs both transport and installation, work efficiency is reduced, and the lack of sensors for floor construction limits practical on-site application.
This technology features two robots connected by a coupling link that synchronize supply height and installation tasks through communication. It is equipped with sensor modules for autonomous navigation, motion control, and floor inspection, enabling autonomous driving and the alignment/inspection of flooring materials. Applicable to logistics, service robotics, and autonomous platforms, this system automates and robotizes construction processes, reducing manual labor and potential hazards while improving productivity and safety in the construction sector.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology is a registration control method that utilizes C-arm X-ray images to generate a multi-stage transformation matrix between the surgical robot's ring frame coordinate system and the patient's bone fragment coordinate system, precisely estimating the relative positional relationship between the robot and the patient through 2D/3D registration and PnP algorithms.
Existing fracture reduction surgeries have faced issues such as the need for expensive additional equipment like markers and probes due to the use of 3D position trackers, increased complexity of the surgical environment, and low precision when using conventional 2D/3D registration methods based on X-ray imaging.
This technology involves attaching metal bead-type jigs to a ring frame fixed to the bone fragment to serve as feature points on X-rays. It performs registration between the X-ray imaging device and the robot jig (2-stage transformation) and between the X-ray imaging device and the bone fragment (1-stage transformation), respectively. Finally, it derives a coordinate transformation matrix between the robot and the bone fragment, enabling registration of robot and patient coordinates without a 3D position tracker. It can be applied to surgical robots, interventional systems, and medical automation, thereby improving the precision of Y-matching and minimizing unnecessary equipment in fracture surgery procedures.
This invention was developed through the Ministry of Education's support for fracture surgery navigation via image-based 3D fracture modeling.
This technology is an upper limb assistive mechanism that secures only the user's forearm without requiring the alignment of the human upper limb and robot joint axes. It achieves gravity compensation and 6 degrees of freedom through two series elastic actuator (SEA)-based rotation axes.
Previous challenges included slippage, discomfort, increased design complexity, and the physical difficulty of aligning joint axes due to individual differences and the mismatch between human upper limb joint degrees of freedom and robot joints.
This technology features a mechanism that secures only the user's forearm and positions the robot's joint axes externally. By using wire-pulley-based rotary series elastic actuators, it measures torque from external forces and performs gravity compensation. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it resolves physical compatibility issues to enhance the user experience, providing a comfortable and safe interaction.
This invention was developed with support from the Ministry of Science and ICT for the commercialization of immersive human-robot multi-sensory interaction technology.
This technology is an autonomous multi-purpose work system where a transport robot and a work robot are connected by a coupling link to move in a towing configuration, and a gripper module extracts floor finishing materials from a storage unit to install them sequentially onto the floor leveling material.
Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, the lack of integration between material transport and installation processes reduces work efficiency, and insufficient sensors for environmental awareness limit their practical effectiveness.
This technology features a towing structure via coupling links between mobile platforms, a gripper module composed of vertical/horizontal supports and a sliding arm, a multi-sensor module for environmental and installation status recognition, and a contact mechanism combined with a light-source marker-based positioning algorithm for precise floor material alignment. Applicable to logistics, service robots, and autonomous platforms, it enhances the speed and efficiency of building finishing work through the adoption of construction automation and robotics.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology is a robust control system that resolves robot singularity issues by converting Cartesian coordinates into rotational coordinates and estimates internal and external disturbances using a disturbance observer based on the dynamic model of flexible joints, reflecting them in the control input.
Conventional linear system-based disturbance observers suffer from performance fluctuations depending on robot movement, necessitating conservative design, and their operational range is limited due to control divergence when singularities occur within the workspace.
This technology utilizes a Jacobian transpose matrix to transform coordinate systems and designs a nonlinear disturbance observer that includes a determinant to eliminate inter-joint reaction forces, thereby achieving consistent control performance and singularity avoidance regardless of changes in robot posture. It can be applied to rehabilitation training, gait assistance, and medical/welfare services, maximizing the workspace and improving robot performance and efficiency by achieving high performance and stability across various fields.
This invention was developed with the support of the Ministry of Trade, Industry and Energy's technology development project for interoperable modular muscle-assist exosuits.
This technology is a mechanical support frame structure that attaches to the lower module of a snake-like robot to increase its contact area with the ground. It includes a seating section, side extension supports, and side-wrapping supports to provide a mechanism that prevents tipping due to shifts in the center of gravity or lateral external forces when navigating slopes.
The issue of insufficient lateral support as snake-like robots increase in length. This leads to reduced driving stability due to a higher risk of tipping when navigating slopes or encountering lateral external forces.
This technology physically expands the ground contact area through an auxiliary member attached to the underside of the snake-like robot. By utilizing the front and rear protrusions of the seating section along with primary and secondary supports, it secures the distance of the support points relative to the center of gravity, thereby improving stability on slopes. It can be applied to logistics transport, service robots, and autonomous driving platforms, improving driving stability on inclines and allowing the snake-like robot to traverse steeper slopes without rolling over.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of search robot technology for confined spaces to detect victims in collapsed areas.
This technology is a microrobot system that includes a screw part driven by an external rotating magnetic field and a needle part coupled to a base part via an insert structure. Upon reaching the target, the protrusion length of the needle is adjusted through a mechanical groove-and-protrusion locking mechanism to ensure stable fixation.
In fluid environments, microrobots often drift from their target positions due to factors like blood flow. Preventing this typically requires continuous magnetic field control, which leads to reduced control efficiency and high computational loads.
This technology features a mechanical locking structure that houses the needle within the base during transit. Once the target is reached, the needle is extended and its length adjusted by engaging protrusions on the needle's outer surface with grooves inside the base, physically anchoring it to the target. Applicable to surgical robots, interventional systems, and medical automation, this design enhances drug delivery efficiency by increasing dosage capacity and providing an internal storage space within the microrobot.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for the Intelligent Microrobot-based Body-on-a-Chip for Precision Medicine project.
This technology is a 3-degree-of-freedom microsurgical manipulation and control system that utilizes multiple motors and a linkage structure to perform axial movement (distance/angle adjustment) and radial movement (precision targeting) of surgical instruments.
During retinal surgery, surgical instruments often enter at an acute angle rather than perpendicular to the retinal surface, which increases the risk of retinal damage and errors caused by hand tremors.
This technology implements 3-degree-of-freedom control using three motors. It calculates the coordinates of the surgical instrument tip relative to the target insertion point using angle sensors, a light source (for distance measurement), and an imaging unit to precisely calibrate position and angle. Applicable to surgical robots, interventional systems, and medical automation, it improves control precision and provides users with greater convenience when maneuvering surgical instruments.
This invention was developed with support from the Ministry of Science and ICT for the Multi-Degree-of-Freedom Sensing and Actuation-Based Bimanual Ultra-Precision Surgery Platform project.
