Abstract: A multi-output differential gear apparatus includes a first differential gear having a first output gear and a middle gear, and second differential gear having a second output gear and a third output gear.

Abstract: The present disclosure relates to a tactile sensor including a first substrate on which a first electrode is formed; a second substrate on which a second electrode and a coupling hole is formed so that the first electrode may be inserted into the coupling hole; and a dielectric covering the first electrode and the second electrode, and thus not only having flexibility and elasticity, but also requiring a reduced number of wires to be used when sending and receiving signals, making it is easier to manufacture and saving costs.

Abstract: Disclosed are a multi-axial force sensor capable of measuring multi-axial force and a grasper for sensing multi-axial force using the same. The multi-axial force sensor includes: a first operating section which includes a first member, and a first protrusion module formed protruding from one side of the first member; an elastic section which is formed at one end of the first member; a second operating section which includes a second member formed with one end to face one end of the first member with the elastic section therebetween, and a second protrusion module formed protruding from one side of the second member to face the first protrusion module; and an electrode section which is formed in the first protrusion module. With this, there is provided a force sensor capable of precisely measuring force through a simple structure.

Abstract: Disclosed is a method of providing performance indicators of a robot hand and a method of optimizing a structure of the robot hand, and more particularly to a method of providing performance indicators of a robot hand, in which the performance indicators are to objectively compare a plurality of robot hands with respect to performance, and a method of optimizing a structure of the robot hand, in which engineering design criteria are provided to determine essential factors in developing the structure of the robot hand.

Abstract: A capacitive type sensor includes a circuit board, electrodes formed on a first surface of the circuit board, and an electrode plate disposed above the circuit board, wherein the electrodes comprise pairs of electrodes disposed from a distance from a center of the circuit board, and the pairs of electrodes being spaced apart from each other.

Abstract: Provided herein is a method and apparatus describing a force sensor that includes a ground unit that is a grounded conductor that changes its position according to an external force, and including a flat panel module that is a conductor of a flat panel shape, and a protruding module that is a conductor protruding from a lower surface of the flat panel module, a substrate of a flat panel shape arranged in a predetermined distance from the lower surface of the flat panel module, and having a hole through which the protruding module may be inserted, a first electrode formed on an upper surface of the substrate, to generate a capacitance together with the flat panel module upon receiving power, and a second electrode formed on the substrate, to generate a capacitance together with the protruding module upon receiving power.

Abstract: A brake mechanism of a robot using a multi-output differential gear, capable of selectively blocking or applying driving force as needed, the brake mechanism including, a differential gear unit receiving driving force and generating at least three outputs differentiated from the driving force while being linked with the driving force, a driving unit transferring the driving force to the differential gear unit and moving in a direction away from or approaching the differential gear unit to thereby be detachably provided in the differential gear unit, and a rescuing unit controlling a spaced distance between the driving unit and the differential gear unit to attach and detach the driving unit to and from the differential gear unit.

Abstract: The present invention relates to a surgical grasper for measuring force, the surgical grasper having a first gripping part and a second gripping part, the first gripping part being provided with a first recess portion recessed inwardly from an outer surface of the first gripping part, the surgical grasper including: a first elastic dielectric body having one surface surface-contacting the first recess portion; an electrode part including a pair of electrodes opposed to each other on opposite surfaces of the first elastic dielectric body and having a distance between the electrodes, varied by external force applied thereto; and a first finishing part surface-contacting the other surface of the first elastic dielectric body and formed to correspond to the first recess portion to thereby be inserted into the first recess portion.

Abstract: Provided herein is a robot for inspection of a pipeline using a multi-output differential module, the robot including a robot body configured to move along an inside of the pipeline, and having a driving power supply unit; a proceeding unit rotatably-connected to the robot body, and provided with a plurality of active proceeding units having proceeding wheels that proceed along an inner wall of the pipeline; and a power transmission unit supported against the robot body, connected to the driving power supply unit to transmit driving power to the active proceeding unit, and having the multi-output differential module that distributes the transmitted driving power to the active proceeding unit.

Abstract: Provided herein is a caterpillar for cable mobile robot and a cable mobile robot using the same, the caterpillar for cable mobile robot and cable mobile robot including a case; a plurality of first rotating members configured to rotate and distanced from one another inside the case; a second rotating member configured to rotate and provided between the first rotating members; a belt member mounted to the first rotating members and the second rotating member; and a tension adjuster located between the second rotating members and the first rotating member, and configured to support the belt member at its lower part so that the tension of the belt is adjusted.

Abstract: Provided herein is an active joint module, and a robot for inspecting pipelines having the active joint module, the active joint module including a frame unit; a first bracket connected to one side of the frame unit in a rotatable manner, and to which a first module is coupled; a second bracket connected to another side of the frame unit in a rotatable manner, and to which a second module is coupled; and a bracket rotating unit supported to the frame unit, and is configured to rotate the first bracket and second bracket independently from each other in response to receiving an operating signal, and to unconstrain rotation of the first bracket and second bracket in response to there being no operating signal received.

Abstract: A sensor and a method of manufacturing the same are provided. The sensor includes a substrate, a projecting portion including a plurality of projections that protrude upwardly from an upper portion of the substrate, and an electrode portion covering the projections and the upper portion of the substrate between the projections. The projecting portion of the sensor may have a micro-size projections and sense pressure applied thereto and a sliding movement thereon.

Abstract: Provided herein is a caterpillar for cable mobile robot and a cable mobile robot using the same, the caterpillar for cable mobile robot and cable mobile robot including a case; a plurality of first rotating members configured to rotate and distanced from one another inside the case; a second rotating member configured to rotate and provided between the first rotating members; a belt member mounted to the first rotating members and the second rotating member; and a tension adjuster located between the second rotating members and the first rotating member, and configured to support the belt member at its lower part so that the tension of the belt is adjusted.

Abstract: A capacitive type sensor includes a circuit board, electrodes formed on a first surface of the circuit board, and an electrode plate disposed above the circuit board, wherein the electrodes comprise pairs of electrodes disposed from a distance from a center of the circuit board, and the pairs of electrodes being spaced apart from each other.

Abstract: The present invention relates to a surgical grasper for measuring force, the surgical grasper having a first gripping part and a second gripping part, the first gripping part being provided with a first recess portion recessed inwardly from an outer surface of the first gripping part, the surgical grasper including: a first elastic dielectric body having one surface surface-contacting the first recess portion; an electrode part including a pair of electrodes opposed to each other on opposite surfaces of the first elastic dielectric body and having a distance between the electrodes, varied by external force applied thereto; and a first finishing part surface-contacting the other surface of the first elastic dielectric body and formed to correspond to the first recess portion to thereby be inserted into the first recess portion.

Abstract: A robot uses a multi-output differential gear to generate outputs. The robot includes a driver; a differential gear configured to receive a driving power from the driver, and to drive in an interlocked manner with the driving power to generate at least three outputs differentiated from the driving power; and a motion section configured to drive in an interlocked manner with an output generated from the differential gear, and to apply an external resistance to the differential gear.

Abstract: A brake mechanism of a robot using a multi-output differential gear, capable of selectively blocking or applying driving force as needed, the brake mechanism including: a differential gear unit receiving driving force and generating at least three outputs differentiated from the driving force while being linked with the driving force; a driving unit transferring the driving force to the differential gear unit and moving in a direction away from or approaching the differential gear unit to thereby be detachably provided in the differential gear unit; and a rescuing unit controlling a spaced distance between the driving unit and the differential gear unit to attach and detach the driving unit to and from the differential gear unit

Abstract: There is provided a capacitor sensor capable of controlling sensitivity, wherein the capacitor sensor measures the magnitude and direction of a shear force applied to the sensor, as well as the magnitude of a normal force applied on the surface of the sensor, and consists of a single cell including a pattern electrode capable of varying its shape to control the sensitivity of the sensor.

Abstract: Provided herein is a multi-axis sensor including: a pair of electrodes positioned such that at least partial areas thereof face each other; an elasticity member having one of the pair of electrodes installed in its upper portion and another of the pair of electrodes installed in a lower portion; and a sensor unit electrically connected with the pair of electrodes, and configured to detect a change of capacitance value between the pair of electrodes and a change of resistance value of the elasticity member.

Abstract: Disclosed is an active skin including: a tactile sensor substrate which includes a first film including a dielectric elastic material and formed with a plurality of sensing points, and a pair of first electrodes respectively formed on upper and lower sides of the sensing point; a tactile actuator substrate which includes a second film including a dielectric elastic material and formed with a plurality of actuating points, and a pair of second electrodes respectively formed on upper and lower sides of the actuating point; and an insulating layer which is interposed between the tactile sensor substrate and the tactile actuator substrate and couples the tactile sensor substrate and the tactile actuator substrate. With this, a tactile sensor and a tactile actuator are integrated, so that there is provided an interactive tactile interface to not only feel like a human's skin but also actively move like a muscle.