Abstract: A semiconductor memory includes metallic lines on a substrate and including an uppermost metallic line, a semiconductor conduction line on the uppermost metallic line, a vertical structure penetrating the semiconductor conduction line and metallic lines, and including a vertical structure that includes an upper channel film, a first lower channel film, and an upper connection channel film connecting the upper channel film and the first lower channel film between a bottom of the semiconductor conduction line and a bottom of the uppermost metallic line, and a first cutting line through the metallic lines and the semiconductor conduction line, and including a first upper cutting line through the semiconductor conduction line, and a first lower cutting line through the plurality of metallic lines, a width of the first upper cutting line being greater than a width of an extension line of a sidewall of the first lower cutting line.

Abstract: Provided is a soft growing robot which may be precisely controlled by reducing the effect of a tail tension applied to its inner periphery. The soft growing robot includes a case having one open side; and a vine including an outer periphery having one end fixed to one side surface of the case, the inner periphery disposed inside the outer periphery while being spaced apart from the outer periphery and extended into the case, a tip connecting the other end of the outer periphery and one end of the inner periphery to each other, and a tip space formed by the outer periphery, the tip and the inner periphery, and a tip space formed by the outer periphery, the tip and the inner periphery. A diameter of the tip is smaller than a diameter of the outer periphery to a bent portion between the tip and the outer periphery.

Abstract: Provided is a soft growing robot which may be precisely controlled by reducing the effect of a tail tension applied to its inner periphery, the soft growing robot including: a case having one open side; and a vine including an outer periphery having one end fixed to one side surface of the case, the inner periphery disposed inside the outer periphery while being spaced apart from the outer periphery and extended into the case, a tip connecting the other end of the outer periphery and one end of the inner periphery to each other, and a tip space formed by the outer periphery, the tip and the inner periphery, and a tip space formed by the outer periphery, the tip and the inner periphery, wherein a diameter of the tip is smaller than a diameter of the outer periphery, thereby forming a bent portion between the tip and the outer periphery.

Abstract: A string actuator-based exoskeleton robot includes: a driving force conversion unit including a fixed frame and a rotation pulley and mountable on a side portion of the waist of a human body; a driving unit including a driving motor providing a driving force and a pair of strings provided in double rows to have one side connected to the driving motor and the other side connected to the rotation pulley, and assisting the rotation of the rotation pulley by twisting or untwisting the pair of strings with or from each other by a rotational driving force of the driving motor to vary a length of the pair of strings; and a support unit formed to extend from the rotation pulley to at least one of a front surface or a rear surface of the femoral region of the human body to support the femoral region of the human body.

Abstract: A growth-type soft robot includes a housing including an external body including an internal accommodation space and one side open and a fixing portion formed on a periphery of an open region of the external body, a growth unit including an outer periphery having one end connected to the fixing portion, an inner periphery spaced apart from an inner side of the outer periphery and extending to the accommodation space, and a bent portion connecting the other end of the outer periphery to one end of the inner periphery to form a front end space, and a data collecting unit including a cable extending along a central portion surrounded by the inner periphery and a sensing module acquiring external information, wherein the other end of the inner periphery forms a folded region, and a length of the growth unit is adjustable by air supplied to the front end space.

Abstract: A haptic interaction device include: a setting unit configured such that, when a desired stiffness related to a penetration depth of a haptic interaction point in a virtual environment and a feedback force corresponding to the penetration depth is designated, the setting unit sets a feedback force that is to occur when the haptic interaction point penetrates the virtual environment; a checkup unit checking, when a cycle is ended, the stiffness at the cycle during which the haptic interaction point penetrates the virtual environment along a pressing path and moves along a releasing path in the opposite direction to the direction of penetration according to the feedback force that has been set; and a determination unit determining a feedforward force offset value related to a feedback force at the next cycle adjacent to the cycle based on a result of comparing the checked stiffness and the desired stiffness.

Abstract: An apparatus for generating a tactile sensation comprises: a tactile sensation generating unit including a magnetorheological fluid, of which the shape changes according to a magnetic field and which comes in contact with a user's body, and a first magnet which is arranged to be surrounded with the magnetorheological fluid, which increases the amount of change of the magnetorheological fluid by the magnetic field thereof, and of which the position changes according to a change in a magnetic field generated by an external source; a magnetic field forming unit for selectively forming a magnetic field around the tactile sensation generating unit; and a control unit which outputs a signal for forming a magnetic field to the magnetic field forming unit when a user's body in contact with the tactile sensation generating unit reaches the surface of a virtual object.

Abstract: Provided is an actuator and a structure including the same which move a weight member by adjusting an overall length of a string unit by twisting or loosening strings. The actuator includes: a string unit which includes string members having the other side connected to a weight member; a drive unit which is connected to one side of the string members and moves the weight member by adjusting an overall length of the string unit by twisting or loosening the string members; and a movement limiting unit which is provided outside the string unit and limits a movement of the weight member by a length difference from the string unit or a restoration unit which is provided between the weight member and the drive unit and restores the weight member when the string members are loosened.

Abstract: A wearable upper-limb exercise device according to the present invention includes: a drive unit which is configured to be wearable on a user's back and generates driving power; a support unit which is configured to be wearable on the user's shoulder; an upper-limb bending and stretching unit which is configured to be wearable on the user's upper limb; and a power transmission unit which is connected to the upper-limb bending and stretching unit via the support unit from the drive unit, and controls the upper-limb bending and stretching unit in accordance with the driving power of the drive unit so as to bend or stretch the user's upper limb.

Abstract: An apparatus for generating a tactile sensation comprises: a tactile sensation generating unit including a magnetorheological fluid, of which the shape changes according to a magnetic field and which comes in contact with a user's body, and a first magnet which is arranged to be surrounded with the magnetorheological fluid, which increases the amount of change of the magnetorheological fluid by the magnetic field thereof, and of which the position changes according to a change in a magnetic field generated by an external source; a magnetic field forming unit for selectively forming a magnetic field around the tactile sensation generating unit; and a control unit which outputs a signal for forming a magnetic field to the magnetic field forming unit when a user's body in contact with the tactile sensation generating unit reaches the surface of a virtual object.

Abstract: A muscular strength enhancing robot to be driven by an intention of a user and a method of driving the robot are disclosed. The robot includes an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength, an encoder connected to the actuator and configured to measure an actual velocity at which the actuator moves, a force or torque sensor configured to measure an intensity of a force to be applied, an admittance modeling module configured to calculate a target velocity using the intensity of the force, and a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference between the target velocity and the actual velocity, control the actuation by a cumulative value of the velocity difference, and control the actuation by a difference between a previous and a current velocity difference.

Abstract: Provided is an exoskeleton-type glove including: a glove type outer cover; a guide provided at a corresponding position between finger joints of a human body on the outer cover; a wire extended along the guide; an actuation module including an actuator that allows the finger joint of the human body to move by controlling an extension length of the wire and provided at a back side of a hand of the human body; and a buffer provided below the actuation module.

Abstract: Provided is a motion control device. The device comprises one or more frames which supports an exoskeleton of a body; a string which connects the frames with each other; a pulley which is disposed between the frames and connected to one end of the string; and a motor which is connected to the other end of the string to control the string, wherein the pulley rotates the string according to control of the motor.

Abstract: A muscular strength enhancing robot to be driven by an intention of a user and a method of driving the robot are disclosed. The robot includes an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength, an encoder connected to the actuator and configured to measure an actual velocity at which the actuator moves, a force or torque sensor configured to measure an intensity of a force to be applied, an admittance modeling module configured to calculate a target velocity using the intensity of the force, and a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference between the target velocity and the actual velocity, control the actuation by a cumulative value of the velocity difference, and control the actuation by a difference between a previous and a current velocity difference.

Abstract: Provided is a motion control device. The device comprises one or more frames which supports an exoskeleton of a body; a string which connects the frames with each other; a pulley which is disposed between the frames and connected to one end of the string; and a motor which is connected to the other end of the string to control the string, wherein the pulley rotates the string according to control of the motor.

Abstract: A method includes constructing map information by obtaining information of environment of a target mowing area, generating a 3-D space path along which the robot having mowing equipment mounted thereon is to move in the target mowing area based on the constructed map information, driving the robot so that the robot travels along the 3-D space path in response to an instruction for executing a mowing mode, extracting a ground area and an obstacle for robot driving by extracting information of a 3-D space when traveling along the 3-D space path, adaptively controlling the driving and mowing mode of the robot based on the extracted ground area and obstacle, and terminating the mowing mode when detecting a completion of the mowing for the target mowing area during the mowing mode.

Abstract: Methods are provided for stabilizing a haptic interface of a computer-controlled one-port virtual-reality system or a two-port teleoperation system comprising a robot manipulator. “Stabilizing” means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure the amount of energy produced at the haptic interface, and a Passivity Controller is calculated to damp or absorb excess energy which causes the sense of vibration. This invention also provides a “filter,” i.e. a threshold function which returns zero velocity if the computed estimated velocity is less than a small predetermined value, which may be applied to estimated velocities determined in impedance-based methods of this invention so as to remove noise in the velocity estimate. To improve speed of reaction of the systems, this invention also provides methods for resetting the Passivity Observer to zero when it has been too positive for too long a period of time.

Abstract: Methods are provided for stabilizing a haptic interface of a computer-controlled one-port virtual-reality system or a two-port teleoperation system comprising a robot manipulator. “Stabilizing” means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure the amount of energy produced at the haptic interface, and a Passivity Controller is calculated to damp or absorb excess energy which causes the sense of vibration. This invention also provides a “filter,” i.e. a threshold function which returns zero velocity if the computed estimated velocity is less than a small predetermined value, which may be applied to estimated velocities determined in impedance-based methods of this invention so as to remove noise in the velocity estimate. To improve speed of reaction of the systems, this invention also provides methods for resetting the Passivity Observer to zero when it has been too positive for too long a period of time.