Abstract: Provided is an encoding apparatus for integrally encoding and decoding a speech signal and a audio signal, and may include: an input signal analyzer to analyze a characteristic of an input signal; a stereo encoder to down mix the input signal to a mono signal when the input signal is a stereo signal, and to extract stereo sound image information; a frequency band expander to expand a frequency band of the input signal; a sampling rate converter to convert a sampling rate; a speech signal encoder to encode the input signal using a speech encoding module when the input signal is a speech characteristics signal; a audio signal encoder to encode the input signal using a audio encoding module when the input signal is a audio characteristic signal; and a bitstream generator to generate a bitstream.

Abstract: Disclosed is an LPC residual signal encoding/decoding apparatus of an MDCT based unified voice and audio encoding device. The LPC residual signal encoding apparatus analyzes a property of an input signal, selects an encoding method of an LPC filtered signal, and encode the LPC residual signal based on one of a real filterbank, a complex filterbank, and an algebraic code excited linear prediction (ACELP).

Abstract: A Unified Speech and Audio Codec (USAC) that may process a window sequence based on mode switching is provided. The USAC may perform encoding or decoding by overlapping between frames based on a folding point when mode switching occurs. The USAC may process different window sequences for each situation to perform encoding or decoding, and thereby may improve a coding efficiency.

Abstract: A strength assist device includes: a multi-link part including one or more links; a profile controller that is connected to one end portion of the multi-link part, and rotates around a central rotational axis; and an elastic force providing part that is connected to the other end portion of the multi-link part, and provides an elastic force to the multi-link part. When the profile controller rotates and one end portion of the multi-link part revolves around the central rotational axis, the elastic force applied to the multi-link part varies.

Abstract: A parallel type integrated actuator is proposed. The actuator includes: a driving unit composed of a first motor, a second motor, a third motor, and a fourth motor; a first shaft, a second shaft, and a third shaft, each shaft being inserted into each other through a hollow structure and forming a co-axis, each shaft being capable of rotating relative to each other in an inserted state, and each shaft having the other end part thereof extending outside the driving unit; an distal end part disposed outside the driving unit and on which an actuator is mounted; a first link part, a second link part, and a third link part allowing the distal end part to rotate in pitching, yawing, and rolling directions; and a universal link part connecting the fourth rotor, which is a rotor of the fourth motor, and the distal end part to each other.

Abstract: A parallel type integrated actuator is proposed. The actuator includes: a driving unit composed of a first motor, a second motor, a third motor, and a fourth motor; a first shaft, a second shaft, and a third shaft, each shaft being inserted into each other through a hollow structure and forming a co-axis, each shaft being capable of rotating relative to each other in an inserted state, and each shaft having the other end part thereof extending outside the driving unit; an distal end part disposed outside the driving unit and on which an actuator is mounted; a first link part, a second link part, and a third link part allowing the distal end part to rotate in pitching, yawing, and rolling directions; and a universal link part connecting the fourth rotor, which is a rotor of the fourth motor, and the distal end part to each other.