Industry-University Cooperation Foundation Hanyang University

Youngjin Choi

Byung-Ju Yi

Dukchan Yoon

Geon Lee

Hoyul Lee

Geun Young Hong

Provided is a robot gripper. The robot gripper comprises: at least two finger units which symmetrically face each other; finger tips which are provided at the terminal ends of the finger units and linked with the operation of the finger units; and a driving unit connected to the finger units so as to operate the finger units. When the finger units are operated, the finger tips pinch-grip an object by moving toward an inner area, which at least two of the finger units form by facing each other, while adapting to conflicts with constraints of the external environment. A force applied to the finger tips in order to enable the pinch grip can act in a direction that raises the object while being applied toward the inner area, or act in a direction lowering the object while being applied toward the inner area.

Adaptive robot gripper for pinch grip

A roll joint is provided. The roll joint may comprise: a first body; a second body disposed opposite to and spaced apart from the first body; a connection body which is disposed between the first body and the second body and is not in contact with the first body and the second body; and a connection wire member which connects the first body, the second body, and the connection body to one another so as to make a tensegrity structure.

Roll joint

An artificial joint is provided. The artificial joint may comprise: a first joint member including a first bone replacement part, and a (1-1)branch and a (1-2)branch branched from opposite sides of the first bone replacement part; a second joint member including a second bone replacement part, and a (2-1)branch and a (2-2)branch branched from opposite sides of the second bone replacement part; a first main string connecting one side of the (1-1)branch and one side of the (2-1)branch; a second main string connecting the one side of the (1-1)branch and one side of the (2-2)branch; a third main string connecting one side of the (1-2)branch and the one side of the (2-1)branch; and a fourth main string connecting the one side of the (1-2)branch and the one side of the (2-2)branch.

Artificial joint

An adaptive robotic finger prosthesis according to the inventive concepts includes a proximal phalanx body configured to be worn on a proximal phalanx portion of a cut finger, a middle phalanx body connected to the proximal phalanx body and configured to function as a middle phalanx portion of the cut finger, a distal phalanx body connected to the middle phalanx body and configured to function as a distal phalanx portion of the cut finger, a first proximal phalanx link disposed under the proximal phalanx body, a second proximal phalanx link disposed on the proximal phalanx body and joint-connected to the first proximal phalanx link, and a proximal phalanx elastic member provided at a joint between the first proximal phalanx link and the second proximal phalanx link to provide elastic force.

Adaptive robotic finger prosthesis for grasping arbitrary object shape

The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

Growing community of inventors

Gyeonggi-do, South Korea

Youngjin Choi