Abstract: A gripper includes a body part, a finger base part coupled to the body part, and a finger part coupled to a first side of the body part or the finger base part and coupled to the body part or the finger base part to be reciprocal, wherein the finger part comprises a first link structure and a second link structure, sides of which are coupled to the finger base part, respectively, and wherein, in the first link structure and the second link structure, a first support area of the first link structure and a second support area of the second link structure reciprocate in only one of a plurality of directions that cross a direction in which the finger part reciprocates with respect to the finger base part.

Abstract: A gripper includes a body part, a finger base part coupled to the body part to be rotatable, the finger base part including a first finger base part and a second finger base part configured such that when the first finger base part is rotated in a first direction with respect to the body part, the second finger base part is provided to be rotatable in a second direction opposite the first direction with respect to the body part, and a finger part coupled to a first side of the body part or the finger base part to be reciprocal.

Abstract: An embodiment device includes an input module including a motor configured to generate a rotational force, an output module configured to receive power from the input module to be rotatable, and a connection module having a first side coupled to the input module and a second side, opposite the first side, coupled to the output module, wherein the connection module is configured to transmit the power from the input module to the output module.

Abstract: An embodiment joint structure includes a first connection link configured to be fixed to one side of a wearer, a second connection link coupled to the first connection link to be rotatable about a first rotation axis, a third connection link coupled to the first connection link to be rotatable about a second rotation axis spaced apart from the first rotation axis, and a fourth connection link, a first side of which is coupled to the second connection link to be rotatable about a third rotation axis and a second side of which is coupled to the third connection link to be rotatable about a fourth rotation axis spaced apart from the third rotation axis, wherein an imaginary first extension axis, an imaginary second extension axis, an imaginary third extension axis, and an imaginary fourth extension axis intersect each other in an intersection area.

Abstract: An embodiment wheel includes a wheel frame unit including a plurality of peripheral regions, a driving power unit disposed at a first side of the wheel frame unit and configured to provide a rotational force that allows the wheel frame unit to perform a rotational motion about a central axis, and a walking power unit disposed at the first side of the wheel frame unit and configured to provide power that changes relative positions between the plurality of peripheral regions.

Abstract: A movable object includes an upper frame and a drive part that is provided under the upper frame and is connected to the upper frame. The drive part includes a first actuator that is connected to the upper frame and rotates on a vertical axis, a first link that is connected to the first actuator and rotatable on the vertical axis by the first actuator, a second actuator that is provided on a first side of the first link and rotates on a horizontal axis, and a second link that faces the first link and is rotatable on a first end portion thereof facing the first link by the second actuator.

Abstract: A force measuring sensor is provided. The force measuring sensor includes: a wire; a signal generator having one side fixed to one end of the wire; and a signal processor configured to convert and process an analog signal received from the signal generator into a digital signal, in which the wire is configured to penetrate an internal space formed in the signal generator, and the analog signal is generated by a change in thickness of a component of the signal generator caused by a change in tension of the wire.

Abstract: Disclosed is a wearable device including a link unit which has a shape corresponding to the lower extremities of the wearer and rotates in a front-rear direction, and a power supply unit. The link unit includes a right link unit fixed to the right lower extremity of the wearer and has a lower end that comes into contact with the ground, and a left link unit which is fixed to the left lower extremity of the wearer and has a lower end that comes into contact with the ground. A steering mode is provided to steer the link unit, and during the steering mode, i) the power supply unit supplies power to space the right link unit and the left link unit apart from each other, and then ii) the power supply unit supplies power in a direction to cause a unit to be rotated rearward.

Abstract: An underwater decommissioning method of a nuclear facility including a nuclear reactor pressure vessel and bio-protective concrete comprising a cavity in which the nuclear reactor pressure vessel is positioned is disclosed. The method includes: (a) lifting the nuclear reactor pressure vessel above the cavity; (b) forming an insertion part in the bio-protective concrete adjacent to the cavity, filling the insertion part with water, and installing a support part on a bottom surface of the insertion part; (c) inserting the nuclear reactor pressure vessel in the insertion part and mounting a lower portion of the nuclear reactor pressure vessel on the support part; and (d) repeatedly cutting portions of the nuclear reactor pressure vessel mounted on the support part by using a cutting device in an underwater position. The method allows performing cutting operations in the water, and thus, it is possible to prevent radiation exposure due to occurrence of dust.

Abstract: A radioactive structure dismantling method of a heavy water reactor facility that includes a calandria including a main shell and a sub shell, a calandria vault that receives the calandria therein, and a cover assembly that covers the calandria according to an embodiment, includes: preparing dismantling of the calandria; dismantling a reactor pipe installed in the calandria; dismantling the cover assembly that covers the calandria; dismantling the calandria; and dismantling the calandria vault.

Abstract: Disclosed is a device including a first connection link coupled to be rotatable about a first rotary shaft, a second connection link coupled to be rotatable relative to the first connection link about a second rotary shaft, a third connection link coupled to be rotatable relative to the second connection link about a third rotary shaft, and a fourth connection link coupled to be rotatable relative to the third connection link about a fourth rotary shaft, in which first to fourth extension axes respectively defined by extending the first to fourth rotary shafts in longitudinal directions thereof intersect in an intersection region.

Abstract: A method for complex-decommissioning a nuclear facility is disclosed. The method for complex-decommissioning the nuclear facility includes: cutting and expanding an inner wall of the cavity; installing a cutting device that cuts and decommissions the nuclear reactor pressure vessel inside the cavity; fixing the nuclear reactor pressure vessel inside the cavity by using a fixture; and cutting and decommissioning the nuclear reactor pressure vessel fixed inside the cavity by using a cutting device.

Abstract: A device for separating a shielding slab for a heavy water reactor according to an embodiment includes: a body; a circular rail installed on at least one side of the body; and a decommissioner for decommissioning a shielding slab installed on the circular rail and installed on an inner wall of a heavy water reactor, wherein the decommissioner includes a decommission head moving on the circular rail, a separator installed in the decommission head and separating and desalinizing the shielding slab, and a gripper installed in the decommission head and gripping the separated shielding slab.

Abstract: A robot hand module includes a thumb module, a plurality of finger modules, and a palm part to which the thumb module and the finger modules are coupled. The thumb module and the finger modules each include a phalangeal part movably coupled to the palm part, a cable part having a first side connected to the phalangeal part, and a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part, wherein each of the driving parts includes an inlet region from which the cable part is extended to the outside, and wherein an acute angle is defined between a first direction in which the inlet region is directed toward the outside and a second direction in which the driving parts are disposed.

Abstract: An embodiment apparatus includes a wire unit surrounding a shoulder of a wearer, a clutch unit penetrated by the wire unit and disposed on a route along which the wire unit extends, and a support unit having a first side rotatably connected to the clutch unit and a second side supporting an elbow of the wearer.

Abstract: Disclosed are a display assembly and a walking assistance apparatus including the same. The display assembly includes a body, a rotary part coupled to the body to be rotatable about a first axis extending upwards, a display part coupled to an upper side of the rotary part, and a pressing part coupled to a side surface of the body, and that allows the constrained rotary part to be rotated in a first direction as the pressing part is pressed toward the rotary part.

Abstract: A wearable apparatus for increasing muscular force includes: a mount body coupled to an upper body of a wearer; a shoulder frame coupled at one end thereof to the mount body at the dorsal surface of the wearer and which is rotatable in up and down direction; a mounting frame coupled at one end thereof to the other end of the shoulder frame to be torsionally rotated; a supporter, which surrounds part of an upper arm of the wearer to support the upper arm of the wearer; and a compensation frame, which is integrally coupled to the supporter to be rotated together with the supporter about a shoulder joint of the wearer. The compensation frame capable of generating supporting force that varies depending on the angle to which the compensation frame is rotated.

Abstract: One aspect of the present disclosure provides a foot structure for a walking robot including a link configured to define a body, a buffer unit coupled to one end portion of the link and having a vacant space formed therein, and a pressure sensor provided in the link and configured to detect a change in pressure of air in the vacant space in the buffer unit.

Abstract: An embodiment wearable robot includes a rear body unit configured to be provided in close contact with a rear side of a user, the rear body unit including a first link, and a link module having a first side coupled to the rear body unit and a second side configured to be positioned on a shoulder of the user, the link module including a second link rotatably coupled to a first side of the first link, a third link rotatably coupled to a second side of the first link, and a fourth link having a first side rotatably coupled to the second link and a second side rotatably coupled to the third link, the fourth link being configured to extend to the shoulder of the user.

Abstract: An embodiment power transmission device includes an input shaft rotatable about a first rotation axis, first and second wires wound around an outer surface of the input shaft based on a first radial direction, each having a first side fixed to the input shaft, an output shaft rotatable about a second rotation axis, the output shaft including a shaft body, wherein the first and second wires surround an outer surface of the shaft body based on a second radial direction, and first and second wire holders to which a second side of the first wire and a second side of the second wire are respectively fixed. The first wire extends in a first circumferential direction of the shaft body, and then the first wire extends in a second circumferential direction opposite to the first circumferential direction of the shaft body.