Abstract: Disclosed herein is a real-time face recognition apparatus and method. A real-time face recognition apparatus includes a face detection unit for detecting a face image by obtaining image coordinates of a face from an input image. An eye detection unit obtains image coordinates of both eyes in the face image. A facial feature extraction unit generates feature histogram data based on parallel processing from the face image. A DB unit stores predetermined comparative feature histograms. A histogram matching unit compares the histogram data generated by the facial feature extraction unit with the comparative feature histograms, and then outputting similarities of face images. The face recognition apparatus may be implemented as internal hardware in which a VGA camera and an exclusive chip interface with each other, thus remarkably reducing a system size and installation cost, and performing face recognition in real time without requiring additional equipment.

Abstract: Disclosed is an apparatus for training a recognition capability by using a robot and to a method for same. Disclosed is the apparatus for training the recognition capability, according to one embodiment of the present invention, comprising: an instruction generation portion for transmitting to the robot a series of robot instructions for controlling the behavior of the robot; a sensor portion for collecting sensor information including a 3D position information and color information of a trainee; a trainee behavioral information generation portion for generating behavioral information of the trainee, based on the sensor information that is collected; and a recognition capability determination portion for outputting the recognition capability of the trainee, based on the robot instructions and the behavioral information of the trainee.

Abstract: The present invention discloses a weight compensation mechanism installed at a rotatable three-degree-of-freedom link member, wherein a first rotation of the link member is a yaw rotation aligned with the direction of the gravity and second and third rotations of the link member are respectively a roll rotation and a pitch rotation, wherein the second and third rotations are restrained by a plurality of differential bevel gears, and wherein a pair of cam plates is fixed to shafts of a pair of rotary bevel gears in the plurality of differential bevel gears, and a one-degree-of-freedom weight compensator is provided to be connected to the cam plates.

Abstract: The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.

Abstract: A coupling device has a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft, an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft, and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole having an initial-position portion in which the flexible member is positioned at the initial stage and a displaced-position portion which has a smaller diameter than the initial-position portion and of which the diameter is constant about the rotating shaft, and an another through-hole having an initial-position portion in which the flexible member is positioned and a return-position portion of which the radius decreases from the initial-position portion.

Abstract: Disclosed herein is a real-time face detection apparatus. The real-time face detection apparatus includes a down-scaling unit and a face region comparison unit. The down-scaling unit down-scales an input image at at least one ratio. The face region comparison unit creates a plurality of windows for the image down-scaled at the at least one ratio, acquires face region confidence of each of window images within the created windows by comparing the window image with a classifier, and determines whether the window image corresponds to a face region.

Abstract: The present invention discloses a weight compensation mechanism installed at a rotatable three-degree-of-freedom link member, wherein a first rotation of the link member is a yaw rotation aligned with the direction of the gravity and second and third rotations of the link member are respectively a roll rotation and a pitch rotation, wherein the second and third rotations are restrained by a plurality of differential bevel gears, and wherein a pair of cam plates is fixed to shafts of a pair of rotary bevel gears in the plurality of differential bevel gears, and a one-degree-of-freedom weight compensator is provided to be connected to the cam plates.

Abstract: The present invention relates to an apparatus and method for localizing a sound source in real time. The apparatus for localizing a sound source in real time includes a sound signal acquisition unit for acquiring sound signals through two or more channels. A sample delay storage unit stores a plurality of pieces of data, sampled from the sound signals acquired through respective channels, for a predetermined period of time. A correlation calculation unit calculates correlations between the channels from the plurality of pieces of sampled data stored in the sample delay storage unit. A sound source direction calculation unit calculates an azimuth angle of the sound source using both the correlations between the channels and location relationships of the sound signal acquisition unit. Accordingly, the present invention can localize a sound source in real time.

Abstract: The present invention relates to a device for generating limit torque, which generates a rotational displacement to protect a rotating device and automatically returns to the initial position when an external force is eliminated, and a rotating device using the same. The device includes a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft; an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft; and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole in which a rotational displacement is generated and through which the flexible member returns to the initial position.

Abstract: The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.

Abstract: Disclosed herein is a real-time face detection apparatus. The real-time face detection apparatus includes a down-scaling unit and a face region comparison unit. The down-scaling unit down-scales an input image at at least one ratio. The face region comparison unit creates a plurality of windows for the image down-scaled at the at least one ratio, acquires face region confidence of each of window images within the created windows by comparing the window image with a classifier, and determines whether the window image corresponds to a face region.

Abstract: A working robot, which is able to perform a required operation by locating a tool on a working position of a moving object, comprises a robot body moving with the object according to the movement of the object with more than one degree of freedom; an actuator mounted on a free end of the robot body and including a tool mounting unit, on which the tool is mounted, connected by a passive joint which reacts passively to small displacement of the object for locating the tool on the working position; and a control device for controlling the robot body, the actuator, and the tool.

Abstract: An apparatus for measuring jaw motion has a pair of fixed marker attached to both sides of face of patient, a pair of movable markers disposed to face the fixed marker in a spaced distance and to move in unison with the movement of the lower jaw of patient, four cameras recording the three-dimensional movement of the movable marker relative to the fixed marker, as lower jaw moves, and personal computer for receiving and processing the image signals fed from connected cameras. The apparatus can accurately measure the location of the center of patient's jaw motion and the moving track thereof with stereo vision processing of the image signals obtained from camera.

Abstract: A working robot, which is able to perform a required operation by locating a tool on a working position of a moving object, comprises a robot body moving with the object according to the movement of the object with more than one degree of freedom; an actuator mounted on a free end of the robot body and including a tool mounting unit, on which the tool is mounted, connected by a passive joint which reacts passively to small displacement of the object for locating the tool on the working position; and a control device for controlling the robot body, the actuator, and the tool.

Abstract: An apparatus for measuring and fixing the three-dimensional location of medical instrument that can be easily placed at a desired location by a user. In addition, a medical apparatus for measuring the three-dimensional locations of an apparatus fixed at an end portion of a cancer and an external apparatus and fixing the apparatus at an end portion of the cancer, which can be easily placed at a desired location by a user and carries out the location-fixing and measuring at the same time. The apparatus is applicable for various medical fields such as the measurement of the location and orientation of an external apparatus, the measurement of relative locations of a medical instrument contacted to an end-portion of a cancer and the object body, and the fixation of the instrument at a desired location.

Abstract: A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.

Abstract: An apparatus for measuring jaw motion has a pair of fixed marker attached to both sides of face of patient, a pair of movable markers disposed to face the fixed marker in a spaced distance and to move in unison with the movement of the lower jaw of patient, four cameras recording the three-dimensional movement of the movable marker relative to the fixed marker, as lower jaw moves, and personal computer for receiving and processing the image signals fed from connected cameras. The apparatus can accurately measure the location of the center of patient's jaw motion and the moving track thereof with stereo vision processing of the image signals obtained from camera.

Abstract: The present invention relates to an apparatus for measuring and fixing the three-dimensional location of medical instrument that can be easily placed at a desired location by a user.

Abstract: A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.

Abstract: A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.