External Wall Climbing Device with Integrated Brake System to Reduce Wire Load via Vertical Rail Braking

This technology is an external wall climbing device that features a brake unit mounted on the vertical movement module. By physically engaging with the vertical rail when stationary, it secures the module's position and reduces the load on the wire.

Previously, shocks generated during the docking process between the vertical and horizontal movement modules were transmitted to the wire, causing excessive tension. This led to wire stretching and breakage, posing a risk of robot falls and compromising maintenance safety.

This technology integrates a brake unit—consisting of a solenoid actuator, a linkage, and brake pads—into the vertical movement module. When the solenoid is activated, the linkage rotates, pressing the pads against the vertical rail to generate braking force. Applicable to cleaning and inspection robots for skyscrapers, it fundamentally prevents falls caused by wire breakage and maximizes operational safety.

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Key Features:

• A vertical rail installed on the building's exterior, perpendicular to the ground, to provide a path for movement.
• A vertical movement module equipped with multiple rail wheels, installed to move up and down along the vertical rail.
• A solenoid actuator installed on the vertical movement module and a brake pad unit inserted into the vertical rail for movement.
• A linkage that moves the brake pad unit into position to generate braking force through linkage motion when the solenoid actuator is engaged.

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement (KAIA) for the development of a built-in guide type mobile/work platform.

Vision Tracking System for Target Following Using Indoor GPS-Based Motion Compensation

This technology is a system and method that maintains vision tracking accuracy for a target by detecting the real-time movement of a mobile robot's primary body via indoor GPS, using this as a feedforward signal, and inputting it into a controller along with feedback signals from a vision sensor to actively drive the secondary body, which serves as the camera mount.

Existing systems faced issues where the vision sensor would move along with the robot body during driving or vibration, causing the target to exit the recognition range or resulting in motion blur in the video signal, which degraded recognition rates and accuracy.

This technology proposes an active vision tracking system that acquires movement and rotation data of the primary body through indoor GPS triangulation and compensates by driving the secondary body in the opposite direction of the primary body's movement via a controller. By combining inertial sensors and encoders to correct motion detection errors, it achieves precise tracking. It can be applied to indoor surveillance robots, automated logistics equipment, and precision imaging devices, ensuring steady video tracking even while in motion through precise, indoor GPS-based compensation control.

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Key Features:

• IGPS signal transmitter that generates signals to detect the movement of the primary body
• IGPS signal receiver that receives signals from the IGPS signal transmitter to generate movement information for the primary body
• Controller that generates control signals to drive the secondary body by using the primary body's movement information as a feedforward signal
• Actuator that drives the secondary body, to which the vision sensor is attached or integrated, according to the control signals from the controller

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This invention was developed with support from the Ministry of Knowledge Economy for the development of u-Robot HRI solutions and core component technologies.

Parallel Robot System Combining a Bevel Gear-Driven Spherical 3-DOF Parallel Mechanism with Kalman Filter Tracking

This technology is a parallel robot system that controls the position and orientation of a user unit connected to a rotating member. It is based on a spherical 3-DOF parallel mechanism where multiple motors mounted on the outer surface of a base frame drive intersecting guide links via bevel gears, and it includes an object tracking control algorithm utilizing a Kalman filter.

Conventional technologies suffer from limitations such as high external exposure when ceiling-mounted due to the fixed body and user unit being in the same direction, increased volume from internal motors, reduced durability due to asymmetric loads, and constraints on miniaturization caused by screw-through structures.

This technology minimizes mechanical interference by placing motors on the outer surface of the base frame and forming semi-circular guide links that face the user unit. It achieves a compact structure by using bevel gears to transmit motor power, and it tracks objects in blind spots by matching sensing predictions with real-time sensing values and estimating positions using a Kalman filter. Applicable to ceiling-mounted surveillance and tracking robots, industrial automation, and precision positioning, this compact design enhances space utilization and blind-spot tracking performance.

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Key Features:

• A base frame formed with an internal space, featuring a first motor and a second motor disposed on its outer surface
• A first guide link with both ends connected to the base frame, configured to be rotated by the first motor
• A second guide link with both ends connected to the base frame, configured to be rotated by the second motor and to intersect with the first guide link
• A rotating member configured to be rotated by the first or second guide link, with a replaceable user unit connected to its other end

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This invention was developed through active display support using local government ubiquitous networks.

Multicopter optimized with a multi-stage detachable wing support and socket coupling structure

This technology is a structural optimization for multicopter airframes that features a multi-stage detachable wing support (first and second supports) to allow for easy attachment, detachment, and vertical angle adjustment, while stabilizing mechanical and electrical connections through an integrated electrical connector and socket structure.

As multicopters have grown in size due to the mounting of equipment such as cameras, they have become difficult to transport and store. Furthermore, there have been limitations in structural design regarding the ability to secure sufficient thrust, maintain flight stability, withstand wind resistance, and protect the airframe during a crash.

This technology incorporates an angle adjustment unit using a rotation center pin and a fixing pin between the airframe and the wing support. It also introduces an electrical connection (plug/cord) and socket coupling structure that allows the second support to be inserted into and detached from the first support, ensuring ease of disassembly and transport. Applicable to unmanned aerial photography, surveillance, reconnaissance, and environmental monitoring, it improves flight stability and wind resistance while facilitating easier transport and storage.

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Key Features:

• Wing supports provided along the circumference of the airframe, capable of vertical angle adjustment
• A first support coupled to the airframe with adjustable angles, and a second support that is detachably fitted to the first support and to which the wings are attached
• An electrical connector provided to enable electrical connection between the first and second supports when they are coupled together
• A socket fitted to the outside of the second support to restrict movement, into which the first support is inserted and secured with screws

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of a flight robot control system for live-line inspection of Korean power transmission lines.

Active Meal Assistance Device

This technology is an active assistive device that detects a user's subtle muscle strength and biological signals to identify their intended upper limb movements, controlling eight joint axes to assist with the movement and rotation of the arm.

Elderly individuals or rehabilitation patients with limited muscle strength often face challenges in eating or performing upper limb activities independently.

This technology detects the user's movement intent through load cells and electromyography (EMG) sensors. It uses a manipulator structure equipped with 8-axis gimbal motors and sliding components to actively guide the position and angle of the upper limb while providing muscle support. Applicable to rehabilitation training, mobility assistance, and medical/welfare services, it enhances the quality of life for the elderly, the infirm, and rehabilitation patients by supplementing their limited strength and enabling them to perform various tasks.

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Key Features:

• The 3rd L-frame, shaped like an 's┐'s with a horizontal plane extending from one side of the front face, where the rear of the 6th-axis gimbal motor unit is fixed to the front face, and the horizontal plane is connected to the front of the upper limb support.
• The 1st L-frame, shaped like an 's┐'s with a vertical plane extending from one side of the horizontal plane, where the lower part of the 8th-axis gimbal motor unit is fixed to the horizontal plane.
• The 2nd L-frame, shaped like an 's┐'s with a rear face extending from one side of the lateral face, where the rear of the 7th-axis gimbal motor unit is fixed to the inner face.
• The 6th-axis gimbal motor unit, which has a rotation axis connected to the rear face of the 2nd L-frame, rotating the 2nd L-frame clockwise or counter-clockwise.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of an active exercise system based on human-robot collaboration technology to improve upper limb motor function in the elderly and infirm.

Remote Robot Control Device for Pipe Installation

This technology is a system for performing pipe installation tasks through the remote collaborative control of multiple field robots. It utilizes force/torque sensor data from grippers to estimate the pipe's gripping state and employs a robot remote control mechanism that automatically corrects horizontal positioning errors based on contact information with the flange.

Conventional 1:1 remote control methods require high operator proficiency and are limited by the workspace and payload capacity of a single robot, making complex tasks like large-scale pipe installation difficult and causing high operator fatigue.

This technology implements a device that receives commands from a user remote control interface to collaboratively manage multiple robots. It divides the pipe gripping and installation process into task command generation and autonomous command generation. Specifically, it provides a control algorithm that regulates contact force and precisely calibrates pipe positioning through force/torque sensor feedback. Applicable to logistics picking, service robots, and manufacturing automation, it enables coordinated and symmetrical movements of multiple field robots, thereby improving the efficiency and quality of pipe installation tasks.

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Key Features:

• A remote robot control device that corrects horizontal positioning errors by moving the pipe horizontally until the contact force reaches zero, using contact information between the pipe and the flange.
• An autonomous command generation unit that creates autonomous command signals for multiple field robots to install a pipe between two spaced-apart flanges.
• An interface unit that receives pipe gripping and pipe installation operation command signals to control the movements of the field robots.
• A task command generation unit that creates task command signals for the field robots to grip the pipe in response to the pipe gripping operation command signal.

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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.

Contact Force Decomposition Technology for Separating Shear Force via Resultant Normal Force Calculation Using Multiple Pressure Sensors

This technology is a contact force decomposition method and haptic device that measures contact pressure from multiple micro-contact surfaces arranged at different angles on the surface of an external force application unit, and calculates the shear force component by vectorially subtracting the resultant normal force from the total measured contact force.

Existing haptic devices can only measure the total resultant force generated during object contact, leading to low accuracy in reaction force estimation because they cannot precisely decompose changes in contact surface geometry due to object deformation or changes in the direction of normal and shear forces.

This technology proposes a method that derives the resultant normal force using the geometric normal information of the sensors and then extracts the shear force through vector calculation with the contact force sensor values. It can be applied to surgical robots and teleoperated haptic interfaces to precisely decompose contact states into normal and tangential components, enabling realistic force feedback.

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Key Features:

• Measuring contact pressure from multiple micro-contact surfaces positioned at different angles between the target object and the external force application unit
• Measuring the total contact force acting on the external force application unit by the target object using sensors
• Determining the resultant normal force, which is the force in the normal direction of the multiple micro-contact surfaces, from the measured contact pressure
• Calculating the shear force, which is the planar force acting on each micro-contact surface, based on the resultant normal force and the total contact force

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This invention was developed with support from the Ministry of Science, ICT and Future Planning's Research Center for Local Projection Imaging and Haptic-based Surgical Robot Technology.

Underground Excavation and Movement Device Combining Four-Bar Linkage Friction Propulsion and Excavation Unit

This technology is an excavation and movement device where a four-bar linkage-based movement unit, installed on the outer surface of the excavation housing, performs linkage motion in response to the rotation of a link motor, utilizing friction with the ground to move forward or backward.

Existing steel pipe jacking devices have limitations in underground exploration and maintenance tasks due to their large size and restricted movement directions.

This technology proposes a method to reduce the overall size by embedding a motor within the excavation unit and to improve directional control and mobility underground by adopting a four-bar linkage structure. It can be applied to underground pipeline installation, ground exploration, and trenchless construction, allowing for underground operations without large-scale equipment, thereby significantly reducing construction costs and surface disruption.

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Key Features:

• An excavation housing that accommodates the excavation unit, featuring an open front end and a soil discharge outlet on the bottom.
• An excavation unit rotatably installed at the front end of the excavation housing to crush the ground and perform excavation.
• A duct unit that collects excavated soil and a blower unit that supplies air into the duct to discharge the soil.
• A four-bar linkage-based movement unit installed on the outer surface of the excavation housing that moves forward and backward through linkage motion and friction.

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of a built-in guide type movement/work platform.

Variable Moment Arm Load Compensation Unit with Constant Compensation Force via Wire Drum Geometry

This technology is a variable moment arm-based load compensation unit that mechanically offsets moment fluctuations caused by changes in external load positions by adjusting the geometric shape of a wire drum and the deformation of an elastic body.

Conventional counterweight methods increase equipment mass and reduce mobility, while standard spring methods struggle to maintain constant compensation force due to the nonlinearity between gravitational torque and elastic force as positions change. Additionally, methods using motors and sensors lead to higher costs and increased control complexity.

This technology proposes a design where the moment arm length from the wire drum's rotation axis changes according to rotational displacement, compensating for variations in the spring's elastic restoring force through the drum's geometric moment arm. It can be applied to wearable assistive devices and robot arms, achieving precise gravity compensation that maintains a constant force regardless of position.

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Key Features:

• A wire connected to an external load at one end, wound around the wire drum to transmit compensation force
• A wire drum with an outer surface capable of winding the wire, with the other end of the wire fixedly mounted
• A counter-elastic unit that undergoes elastic deformation during the rotation of the wire drum to generate an elastic restoring force
• A drum shape where the moment arm length at the point where the wire is wound changes according to rotational displacement

Data-Driven Biped Control Technology Using Real-Time Pose Modulation and Reference Motion Synchronization

This technology is a data-driven biped control device and method that maintains bipedal balance by modulating reference pose data and editing trajectories based on real-time feedback of current pose information.

Previously, bipeds faced issues with losing balance and falling due to environmental changes or external physical forces, as well as measurement errors that occurred when tracking motion data.

This technology proposes a method that modulates target poses in real-time via a balance maintenance module and adds or deletes frames from reference motions via a synchronization module. By correcting discrepancies between the current pose and reference data in real-time, it enables stable walking even under external force. It can be applied to humanoid robots, walking robots, and robot motion production, accelerating the commercialization of bipedal robots by achieving stable walking that resists falling even when subjected to external forces.

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Key Features:

• Configuration utilizing current pose information corresponding to the first time point of the bipedal feedback
• Balance maintenance module that generates target pose information by modulating reference pose information corresponding to a second time point
• Configuration that edits at least a portion of multiple reference pose streams using current pose information
• Synchronization module that synchronizes reference pose information with current pose information by editing a portion of the reference pose stream

Vision Tracking System Combining Distance Sensor Feedforward and Vision Feedback

This technology is a vision tracking system and method that separates a mobile first body from a second body equipped with a vision sensor. It maintains target tracking performance by compensating for the movement of the first body using distance sensor-based feedforward control combined with feedback signals from the vision sensor.

Previously, vibrations or sudden directional changes during the operation of mobile robots caused targets to move out of the field of view of vision sensors fixed to the same body, or resulted in motion blur, leading to reduced recognition accuracy.

This technology proposes a system that detects the movement and rotation of the first body using distance sensors to drive the second body in the opposite direction via a feedforward control system, while simultaneously integrating feedback signals from the vision sensor itself. This allows for real-time correction of the second body's position and orientation, enabling stable target tracking. Applicable to patrol robots, mobile filming equipment, and logistics robots, it significantly enhances the practicality of robot vision systems by maintaining target tracking even during driving vibrations and sharp turns.

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Key Features:

• Distance sensor that detects movement, including the translation and rotation of the first body, to generate signals for feedforward control
• Controller that receives signals from the distance sensor to generate control signals for driving the second body
• Actuator that drives the second body, to which the vision sensor is attached, according to the controller's control signals
• Configuration that generates control signals by utilizing distance sensor signals as feedforward signals and vision sensor signals as feedback signals

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This invention was developed with support from the Ministry of Knowledge Economy for the development of u-Robot HRI solutions and core component technologies.

Vision tracking system for target following using feedforward compensation based on drive commands

This technology is a vision tracking system that independently controls a first body responsible for the mobile robot's movement and a second body equipped with a vision sensor. It calculates predicted movement information from the first body's drive commands and uses this to calibrate the orientation of the second body in real time.

In conventional systems, the robot's drive unit and vision sensor are fixed to the same body, causing the target to move out of the field of view or resulting in motion blur during movement, which degrades recognition rates and accuracy.

This technology proposes a method of generating control signals for the second body by combining predicted movement information derived from the first body's drive commands with actual movement data from sensors such as inertial measurement units. By using image data as a feedback signal to measure disturbances, it can actively calibrate the orientation of the second body. It can be applied to mobile surveillance robots, camera drones, and autonomous vehicles, significantly improving image recognition accuracy by maintaining a stable focus on targets even while in motion.

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Key Features:

• A first drive unit that receives drive commands to operate the first body and provides them for generating predicted movement information
• A control unit that generates first movement information representing the predicted movement of the first body based on the drive commands
• A configuration that generates control signals to operate the second body using the first movement information
• A second drive unit connected between the first and second bodies that operates the second body according to the control signals

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This invention was developed with support from the Ministry of Knowledge Economy for the development of u-Robot HRI solutions and core component technologies.

Convertible upper-limb strength-assist manipulator that unfolds only when using foldable links

This technology is a body-mounted, convertible manipulator structure designed to assist with upper-limb strength. It features multiple foldable links and a four-bar linkage-based hand lift, providing a mechanical interlocking mechanism that allows the device to be unfolded only during heavy-duty tasks and folded and secured to the body when not in use.

Conventional fixed-type manipulators suffer from installation space constraints and reduced mobility, while upper-limb robots integrated with lower-limb exoskeleton robots often cause reduced walking speed and lower drive efficiency due to the added load on the lower-limb structure.

Based on a body-mounted frame, this technology utilizes a variable foldable joint structure incorporating link guide members and lift-locking components. The connecting links ensure that the foldable links and the hand lift are synchronized during deployment and retraction. When not in use, the lift is secured tightly against the body using the opening of the lift-locking component and an elastic support. This design enhances mobility and operational convenience, making it suitable for industrial strength assistance, logistics, and rehabilitation.

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Key Features:

• A body-mounted frame and foldable links that can be extended or retracted relative to the body
• A hand lift connected to the foldable links, utilizing a four-bar linkage structure to lift heavy objects
• Connecting links that synchronize the foldable links and the hand lift for simultaneous deployment and retraction
• A lift-locking component that secures the hand lift to the body when the foldable links are in the retracted position

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of affordable medical assistance robots through the convergence of remote medical services and robotics technology.

Semi-automated vascular intervention robot for controlling the advancement and rotation of catheters and guidewires

This technology is a semi-automated robotic system that precisely controls the axial advancement and rotational movement of catheters and guidewires for vascular intervention procedures. It features a telescopic structure that supports and guides the catheter, and consists of a catheter rotation unit, a guidewire rotation and feed unit, and a transport unit (rack and pinion).

Existing vascular intervention procedures have faced challenges such as radiation exposure for medical staff, long procedure times due to manual operation, and limited vascular application range and high costs associated with the large outer diameters (4mm or more) of existing robotic systems.

This technology implements a semi-automated system that utilizes existing surgical tools while automating the segments where radiation exposure is most concentrated (catheter and guidewire insertion and rotation). The 4-DOF drive mechanism is designed with a telescopic structure to prevent catheter sagging, and its detachable design ensures ease of sterilization and space efficiency. Applicable to vascular interventions, robotic surgery, and medical automation, it reduces radiation exposure for medical staff while improving procedural precision and efficiency.

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Key Features:

• A catheter rotation unit that rotates the catheter along its longitudinal axis while it is inserted.
• A guidewire rotation and feed unit, located on one side of the catheter rotation unit, that advances the inserted guidewire longitudinally and rotates it along its axis.
• A transport unit that moves both the catheter rotation unit and the guidewire rotation and feed unit together along the longitudinal direction of the catheter.
• A telescopic unit, located on the other side of the catheter rotation unit, that supports the catheter and can extend or retract along the catheter's longitudinal direction.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for robotic system technology aimed at reducing radiation exposure and improving procedural accuracy in transarterial chemoembolization for liver cancer.

Gripper Control Device

This technology is a gripper control algorithm that calculates contact and gripping forces through physical modeling—accounting for gravitational acceleration, geometric angles between components, and friction coefficients—based on the 3D spatial orientation of a gripper holding a cylindrical object, thereby deriving the optimal driving force.

Although the force required to grip an object varies depending on its spatial orientation, conventional technologies have suffered from reduced operational efficiency because they either provide gripping force for only specific orientations or lack the capability for intelligent gripping force control across all spatial orientations.

This technology precisely controls gripper output by calculating the first and second contact forces between each component and the object, considering the gripper's pitch and roll, and computing real-time gripping and driving forces using formulas that incorporate the object's mass and geometric shape. Applicable to logistics picking, service robots, and manufacturing automation, it improves the efficiency and accuracy of gripper operation control by precisely calculating clamping and driving forces.

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Key Features:

• Calculating the first contact force between the first through fourth components and the cylindrical object held by the gripper when the gripper rotates in the pitch direction
• Calculating the second contact force between the first through fourth components and the cylindrical object held by the gripper when the gripper rotates in the roll direction
• First and second components that are formed at a constant angle relative to the ground and are symmetrical to each other
• A fourth component that is symmetrical to the third component and formed above the second component

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of end-effector technology for rescue robots.