Abstract: Disclosed herein is a control method of a wearable robot, including: generating reference gait data based on the results of sensing by a sensor unit included in a structure; estimating, when a wearer walks, the wearer's gait phase based on the results of sensing by the sensor unit; detecting a gait phase having a minimum difference from the estimated gait phase from the reference gait data; and driving a driver of the structure, according to a control signal generated based on the estimated gait phase and the detected gait phase.

Abstract: A motion assistive apparatus may include a receiver allowing a user to intuitively adjust performance of the motion assistive apparatus and a method of controlling the same. The motion assistive apparatus may include a receiver provided to adjust variable characteristics of the motion assistive apparatus, a processor to adjust a variable parameter related to adjustment of the variable characteristics, in response to adjustment of the variable characteristics through the receiver, and an actuator to output changed assist power in response to adjustment of the variable parameter to change the variable characteristics.

Abstract: There is provided a method of controlling a wearable robot. The method includes measuring an electrical signal from a scalp of a wearer, estimating a current walking speed of the wearer using the measured electrical signal, and outputting assistive torque which allows the estimated current walking speed to approximate a target walking speed.

Abstract: Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.

Abstract: A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.

Abstract: Provided are a walk-assistive robot and a method of controlling the same. The method of controlling the walk-assistive robot includes: obtaining ground information that is information regarding ground a walking direction; determining control patterns of the walk-assistive robot by analyzing the obtained ground information; and controlling the walk-assistive robot based on the determined control patterns.

Abstract: Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.

Abstract: A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.

Abstract: A walking assistance device may include at least one walking assistance unit configured to assist a user in walking; and/or a controller configured to control, based on a walk pattern of the user, the at least one walking assistance unit to produce torque only in at least one assistance period needing walking assistance in a walk cycle. A method of controlling walking assistance may include: calculating a walking assistance time using a difference between a start time and a termination time of an assistance period needing the walking assistance in a walk pattern; and/or assisting a user in walking when the assistance period begins, by producing torque for the walking assistance time.

Abstract: A self-repair device includes an ARE (array rupture electrical fuse) array block configured to store fail addresses; an ARE control block configured to control a repair operation of fuse sets according to the fail addresses, compare a plurality of the fail addresses, and determine a failed state; and a redundancy block configured to store fuse data of the fail addresses, compare an input address with the fail addresses, and control row and column redundancy operations.

Abstract: A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.

Abstract: A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.

Abstract: An endoscope to acquire a 3D image and a wide view-angle image and an image processing apparatus using the endoscope includes a front image acquirer to acquire a front image and a lower image acquirer to acquire a lower image in a downward direction of the front image acquirer. The front image acquirer includes a first objective lens and a second objective lens arranged side by side in a horizontal direction. The lower image acquirer includes a third objective lens located below the first objective lens and inclined from the first objective lens and a fourth objective lens located below the second objective lens and inclined from the second objective lens.

Abstract: A face recognition apparatus and face recognition method perform face recognition of a face by comparing an image of the face to be identified with target images for identification. The face recognition apparatus includes an image input unit to receive an image of a face to be identified, a sub-image production unit to produce a plurality of sub-images of the input face image using a plurality of different face models, a storage unit to store a plurality of target images, and a face recognition unit to set the sub-images to observed nodes of a Markov network, to set the target images to hidden nodes of the Markov network, and to recognize the presence of a target image corresponding to the face images to be identified using a first relationship between the observed nodes and the hidden nodes and a second relationship between the hidden nodes.

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 robot and a control method thereof which execute grasp planning of hands of the robot separately from motion planning of arms of the robot so as to apply a result of the grasp planning of the hands of the robot to the motion planning of the arms of the robot, and thus more rapidly, naturally and stably grasp an object in a grasp manner suited to a desired working purpose and judge whether or not grasping is executable prior to the motion planning of the arms of the robot, thereby more stably grasping the object.

Abstract: A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.

Abstract: A robot joint driving apparatus and a robot having the same are capable of minimizing a load applied to a drive motor by rotating a ball nut part such that a ball screw part performs linear movement in a power transmission structure using a wire and the ball screw apparatus. The robot joint driving apparatus includes a reversible drive motor, a ball nut part rotated according to operation of the drive motor, a ball screw part performing linear movement according to rotation of the ball nut part, a wire connected to the ball screw part from both sides of the ball screw part, an idle pulley rotatably installed at one side of the wire, and a joint part rotatably installed at an opposite side of the wire.

Abstract: A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.

Abstract: A compact exoskeleton arm support device compensates for gravity. The compact exoskeleton arm support device compensating for gravity may include at least five joints. Among the at least five joints, two joints may be driven by actuators, and the remaining joints may be driven by user force. The compact exoskeleton arm support device compensating for gravity effectively uses the actuators, thereby increasing operating efficiency and reducing production costs.