Abstract: A surgical robot including a slave device provided with a surgical instrument includes a body having at least one link that includes a plurality of solenoid segments, and an end effector mounted to one end of the body.

Abstract: A frame assembly including a first longitudinal member, a second longitudinal member spaced apart from the first longitudinal member, a third longitudinal member configured to diagonally connect the first longitudinal member and the second longitudinal member, a plurality of first distance maintaining members configured to connect the first longitudinal member and the second longitudinal member, and a plurality of second distance maintaining members configured to connect the second longitudinal member and the third longitudinal member is disclosed.

Abstract: A supporting module including a supporting frame including a proximal end and a distal end, a connecting plate connected with the distal end of the supporting frame, a sliding plate in contact with one face of the connecting plate, a supporting band connected to both ends of the connecting plate, and an elastic strip configured to connect the sliding plate and the connecting plate is disclosed.

Abstract: A power transmitting device may include an input link provided to rotate with respect to a base, an output link provided to rotate with respect to the base, a first shaft connected to the input link in a direction intersecting an axial direction of the input link, a first connecting link connected to the first shaft, a second shaft connected to the first connecting link in a direction intersecting an axial direction of the first shaft, a second connecting link connected to the second shaft, and a third shaft connected between the second connecting link and the output link in a direction intersecting an axial direction of the second shaft.

Abstract: A driving module may include a driving source configured to generate power, a gear train that includes a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side of the gear train, and a rotary joint that includes at least one planetary gear configured to rotate in response to power received from an output end of the decelerating gear set and to revolve along the ring gear. The driving module may include one or more noise reducing members configured to mitigate noise produced based on interaction between one or more elements of the driving module. The driving module may be included in a motion assistance apparatus, where the driving module drives a module that supports a portion of a user body.

Abstract: A power transmission device may include a first power transmission unit configured to connect to an input portion and to receive a power from the input portion, a second power transmission unit configured to deliver the power to an output portion, and a connecting unit configured to connect the first power transmission unit and the second power transmission unit, and to deliver a pressure of a transfer fluid occurring due to the first power transmission unit to the second power transmission unit.

Abstract: A driving device including a driving source configured to rotate forward or reversely, a first wire and a second wire connected to the driving source, a first joint connected to the first wire to rotate in a moving direction of the first wire, and a second joint connected to the second wire to rotate in a moving direction of the second wire is disclosed.

Abstract: A sliding assembly may include a supporting frame having a proximal end and a distal end, a sliding frame partially inserted to the supporting frame, and a supporting member disposed between the supporting frame and the sliding frame to prevent the supporting frame from directly contacting the sliding frame, wherein the sliding frame is configured to move relative to the supporting frame.

Abstract: A motion assistance apparatus including a fixing module attached to a user, a driving module fixed to the fixing module to generate rotation power, a supporting module configured to support a portion of a body of the user and driven by the driving module, a sensor configured to measure a width of the fixing module, and a controller configured to adjust the rotation power of the driving module based on the measured width.

Abstract: Provided is a sensor device including a receiving body including an inserting space, an inserting body disposed in the inserting space, a first sensor assembly including at least one sensor provided between an inner surface of the receiving body and an outer surface of the inserting body, and a second sensor assembly including at least one sensor provided between another inner surface of the receiving body and another outer surface of the inserting body.

Abstract: Provided is a pelvis fixing device including a rear fixing module including a driving module mounting portion, the rear fixing portion configured to enclose a side surface and a rear surface of a waist of a user, and a front fixing module including a soft layer and a hard layer configured to enclose a front surface of the waist of the user, wherein the hard layer is connected to the rear fixing module to form a closed loop around the waist of the user.

Abstract: A frame module includes a frame configured to enclose a portion of a user, and at least one reinforcement belt of which both end portions are connected to both sides of the frame, thereby restricting a splaying level of the frame in a predetermined direction.

Abstract: A driving module including a driving source configured to generate power, a rotary rod connected to the driving source to rotate by receiving the power from the driving source, a power conversion block coupled with the rotary rod to be straight-line-driven in a longitudinal direction of the rotary rod in response to a rotation of the rotary rod, and a power transmission unit configured to operate in response to a driving of the power conversion block is disclosed.

Abstract: A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.

Abstract: A supporting module and a motion assistance apparatus including the same, the supporting module including a supporting frame including a sliding guide, a sliding joint configured to slide along the sliding guide, and an elastic module provided in the supporting frame, and configured to provide an elastic force to the sliding joint, are provided.

Abstract: A driving module and a motion assistance apparatus including the same may be provided. For example, the driving module including a driving source disposed on one side of a user, and configured to provide power, a first decelerator including a first input terminal coupled to the driving source, and a first output terminal and a second output terminal configured to receive power from the first input terminal, a second decelerator including a second input terminal coupled to the first output terminal, and a third output terminal and a fourth output terminal configured to receive power from the second input terminal, and a third decelerator including a third input terminal coupled to the second output terminal, and a fifth output terminal and a sixth output terminal configured to receive power from the third input terminal may be provided.

Abstract: A force transmitting frame may have a length greater than a width. Stiffnesses of first and second end portions of the force transmitting frame may be greater than a stiffness of a central area of the force transmitting frame in a longitudinal direction of the force transmitting frame. The force transmitting frame may include: an inner frame configured to support one side of a user; and/or an outer frame of which first and second end portions are fixed to first and second end portions of the inner frame, and of which a central portion is not fixed to a central portion of the inner frame. The central portion of the outer frame may be configured to slide with respect to the central portion of the inner frame.

Abstract: Provided are a fixing module and a motion assistance apparatus including the fixing module including a first side frame including a first central portion on one side of a user, a first front extending portion configured to extend from the first central portion along a front side of the user, and a first rear extending portion configured to extend from the first central portion along a rear side of the user, and a second side frame including a second central portion on another side of the user, a second front extending portion configured to extend from the second central portion along the front side of the user, and a second rear extending portion.

Abstract: Driving modules, motion assistance apparatuses including at least one of the driving modules, and methods of controlling at least one of the motion assistance apparatus may be provided. For example, a driving module including a driving source on one side of a user and configured to transmit power, an input side rotary body connected to the driving source and configured to rotate, and a first decelerator and a second decelerator configured to operate using the power received from the driving source through the input side rotary body, wherein a gear ratio from the input side rotary body to an output terminal of the first decelerator differs from a gear ratio from the input side rotary body to an output terminal of the second decelerator, may be provided.

Abstract: Driving modules, motion assistance apparatuses including at least one of the driving modules, and methods of controlling at least one of the motion assistance apparatuses may be provided. For example, a driving module including a driving source on one side of a user and configured to transmit power, an input side rotary body coupled to the driving source and configured to rotate, first and second decelerators configured to operate using the power respectively received from the driving source through the input side rotary body, and a first stopper and a second stopper configured to selectively enable or disable a transmission of the power between the input side rotary body and respective output terminals of the first and second decelerators may be provided.