Abstract: A guide framework for positioning an ultrasonic transducer which emits a focused ultrasound to a target point in carrying out surgery to apply ultrasonic stimulation to a subject's brain, includes a body in a shape of a mask that is laid on the subject's face, and a positioning hole formed through an inner surface and an outer surface of the mask body, the positioning hole into which the ultrasonic transducer is inserted, wherein the inner surface of the mask body is formed to conform a facial contour of the subject, and when the guide framework is laid on the subject's face and the ultrasonic transducer is disposed at the positioning hole, the position of the target point is naturally disposed at a preset stimulation site of the brain. An ultrasonic stimulation device includes an ultrasonic transducer and the guide framework for positioning the ultrasonic transducer.

Abstract: A guide framework for positioning an ultrasonic transducer which emits a focused ultrasound to a target point in carrying out surgery to apply ultrasonic stimulation to a subject's brain, includes a body in a shape of a mask that is laid on the subject's face, and a positioning hole formed through an inner surface and an outer surface of the mask body, the positioning hole into which the ultrasonic transducer is inserted, wherein the inner surface of the mask body is formed to conform a facial contour of the subject, and when the guide framework is laid on the subject's face and the ultrasonic transducer is disposed at the positioning hole, the position of the target point is naturally disposed at a preset stimulation site of the brain. An ultrasonic stimulation device includes an ultrasonic transducer and the guide framework for positioning the ultrasonic transducer.

Abstract: The gait rehabilitation robot having a passive mechanism includes: a first auxiliary link member connected to a portion between the pelvis and the knee of a rehabilitating person; a joint coupled to a lower end of the first auxiliary link member; a second auxiliary link member coupled to the lower end of the joint and connected to a portion between the pelvis and the knee of the rehabilitating person; a first spring coupled to an upper end of the first auxiliary link member to prevent introversion and extroversion of a hip point from occurring when the rehabilitating person is walking; a foot support which comes into contact with the foot of the rehabilitating person; an ankle joint for connecting the foot support and the second auxiliary link member; and a second spring coupled to a side of the foot support to compensate an entropion angle.

Abstract: Disclosed herein is a gait rehabilitation apparatus including a first frame having a bottom surface which is movable at predetermined speed; a second frame extending upwards from a tip of the first frame; a load support unit which is mounted to an upper end of the second frame and is rotatable about a rotation axis thereof; a connection string, one end of which is connected to the load support unit, and the other end of which is connected to an upper body of a rehabilitant; a safety bar which is connected to the second frame and is rotatable so as to be tilted upwards; and a gait assistance link member which has a structure able to be tilted upwards, and is connected to each leg of the rehabilitant entering onto the first frame to assist rehabilitation training of the rehabilitant through mechanical movement of the gait assistance link member.

Abstract: The gait rehabilitation robot having a passive mechanism includes: a first auxiliary link member connected to a portion between the pelvis and the knee of a rehabilitating person; a joint coupled to a lower end of the first auxiliary link member; a second auxiliary link member coupled to the lower end of the joint and connected to a portion between the pelvis and the knee of the rehabilitating person; a first spring coupled to an upper end of the first auxiliary link member to prevent introversion and extroversion of a hip point from occurring when the rehabilitating person is walking; a foot support which comes into contact with the foot of the rehabilitating person; an ankle joint for connecting the foot support and the second auxiliary link member; and a second spring coupled to a side of the foot support to compensate an entropion angle.

Abstract: Disclosed herein is a gait rehabilitation apparatus including a first frame having a bottom surface which is movable at predetermined speed; a second frame extending upwards from a tip of the first frame; a load support unit which is mounted to an upper end of the second frame and is rotatable about a rotation axis thereof; a connection string, one end of which is connected to the load support unit, and the other end of which is connected to an upper body of a rehabilitant; a safety bar which is connected to the second frame and is rotatable so as to be tilted upwards; and a gait assistance link member which has a structure able to be tilted upwards, and is connected to each leg of the rehabilitant entering onto the first frame to assist rehabilitation training of the rehabilitant through mechanical movement of the gait assistance link member.

Abstract: The pelvis support device according to an embodiment of the present disclosure is used for a gait rehabilitation robot having a gait assistance link member connected to the leg of a rehabilitator and includes a support frame, one pair of support bars linearly movable along the longitudinal direction of the support frame, a first driving unit for transmitting power so that the support bar moves along the longitudinal direction of the support frame, a ball screw disposed in each support bar, a movable block coupled to the ball screw and linearly movable along the longitudinal direction of the support bar according to the operation of the ball screw, and a second driving unit for transmitting power to drive the ball screw.

Abstract: This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. A manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts.

Abstract: Various embodiments of an eyeball device for use in robots are provided. In one embodiment, the eyeball device has an eyeball, a main part having a camera, a frame having first and second sections, first and second actuators, a first connecting member and a second connecting member. The first section is horizontally pivotally coupled to the main part relative to the main part, while the second section vertically pivotally supports the eyeball. The first and second actuators produce rotary motions. The first connecting member is coupled to the first section and the first actuator to connecting the rotary motion of the first actuator to the first section. The second connecting member is coupled to the eyeball and the second actuator to transmit the rotary motion of the second actuator to the eyeball. The eyeball horizontally pivots through the first connecting member and vertically pivots through the second connecting member.

Abstract: This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. A manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts.

Abstract: Various embodiments of a lip moving device for use in robots are provided. A lip moving device has first and second lip members. The first and second lip members are made from a flexible material. First and second driving parts apply torques to both ends of the first lip member, while third and fourth driving parts apply torques to both ends of the second lip member. The first and third driving parts are mounted in a first frame. The second and fourth driving parts are mounted in a second frame. The first and second frames are pivotally coupled to a supporting part. An adjusting part pivots the first and second frames relative to the supporting part to adjust a distance between the first and second frames.

Abstract: Various embodiments of a lip moving device for use in robots are provided. A lip moving device has first and second lip members. The first and second lip members are made from a flexible material. First and second driving parts apply torques to both ends of the first lip member, while third and fourth driving parts apply torques to both ends of the second lip member. The first and third driving parts are mounted in a first frame. The second and fourth driving parts are mounted in a second frame. The first and second frames are pivotally coupled to a supporting part. An adjusting part pivots the first and second frames relative to the supporting part to adjust a distance between the first and second frames.

Abstract: Various embodiments of an eyeball device for use in robots are provided. In one embodiment, the eyeball device has an eyeball, a main part having a camera, a frame having first and second sections, first and second actuators, a first connecting member and a second connecting member. The first section is horizontally pivotally coupled to the main part relative to the main part, while the second section vertically pivotally supports the eyeball. The first and second actuators produce rotary motions. The first connecting member is coupled to the first section and the first actuator to connecting the rotary motion of the first actuator to the first section. The second connecting member is coupled to the eyeball and the second actuator to transmit the rotary motion of the second actuator to the eyeball. The eyeball horizontally pivots through the first connecting member and vertically pivots through the second connecting member.