Abstract: Provided are a link mechanism which can be variously combined and can be easily assembled and disassembled, and a universal coupler including the same. The link mechanism according to one embodiment of the present invention includes a first plate and a second coupling piece. Here, the first plate has a flat plate shape and a first thickness and includes a plurality of first coupling holes formed to pass therethrough, the first coupling holes have the same size and shape and are disposed at a first interval in at least one of a column direction and a row direction. The first coupling piece is inserted into the first coupling holes of two or more first plates to couple two or more first plates to each other.

Abstract: The present invention relates to an actuator module with universal combination structure. The actuator module with universal combination structure comprises a first fixture that is installed on the actuator module itself for connection with a coupling element, and the coupling element having a second fixture that corresponds to the first fixture, and users can make various forms of combination structure by using bolts and nuts.

Abstract: The present invention is about actuator modules that can be applied to various forms of joints and about joint structure using such modules, and the actuator modules includes actuator body comprising of electronics system and drive system and a separately connected decelerator, and the speed and torque obtained from the first deceleration of the actuator module body can be easily changed through the second decelerator, and since the decelerator separately connects with the actuator body it can be applied to various forms of decelerator and the actuator body can be placed varyingly making it applicable to various joint forms, and said actuator modules can be used form various joint structure.

Abstract: In a method for downloading data through a multimedia device, a screen output device generates a multimedia output representing data to be downloaded through the multimedia device. An analog level comparator compares a level of an electric signal with a reference level, i.e., a reference voltage, and outputs a comparison result signal. A digital signal input device receives the comparison result signal from the comparator. An error correcting section judges whether the downloaded data is damaged based on the comparison result signal from the comparator. If the error is detected, the reference voltage of the analog level comparator is amended, so as to accurately control sensitivity until the error is absent. If the error is not detected, the downloaded data is used.