** US, China, EU, Japan Patents **
\\
  - (US) Patent Number US 11833672, Application Number US 17/849,833 “**Roll Joint**", (Foreign Application Priority Data 2019-0175070) (등록일: 2023.12.05, 출원일: 2022.06.27)
  - (US) Patent Number US 11690721, Application Number US 16/738,619 “**Artificial Joint**", (Foreign Application Priority Data KR2018-0012969) (등록일: 2023.07.04, 출원일: 2020.01.09)
  - (EU) Patent Number EP 2554136, Application number EP 110763034 “**One-Degree-of-Freedom Link Device, A Robot Arm Using the Same and A Surgical Robot Comprising the Same**", (Foreign Application Priority Data KR2010-0029236) (등록일, 2021.08.11, 출원일: 2012.10.27) 
  - (US) Patent Number US 10709584, Application number US 15/957,407 “**Adaptive Robotic Finger Prosthesis for Grasping Arbitrary Object Shape**", (Foreign Application Priority Data KR2015-0145283) (등록일: 2020.07.14, 출원일: 2018.04.19) 
  - (US) Patent Number US 10695917, Application number US 15/883,861  “**One-Degree-of-Freedom Link Device, A Robot Arm Using the Same and A Surgical Robot Comprising the Same**", (Foreign Application Priority Data KR2010-0029236) (등록일: 2020.06.30, 출원일: 2018.01.30) (Active)
  - (US) Patent Number US 9919433, Application number US 13/638,370  “**One-Degree-of-Freedom Link Device, A Robot Arm Using the Same and A Surgical Robot Comprising the Same**", (Foreign Application Priority Data KR2010-0029236) (등록일: 2018.03.20, 출원일: 2011.03.31) (Expired)
  - (CN) Patent Number CN 103119327, Application number CN 201180044280 “**Using two output characteristics of the planetary gear system, gear mold this system and its control method**", (Foreign Application Priority Data KR2010-0089883 & KR2011-0090272) (등록일: 2015.11.25, 출원일: 2011.09.09) 
  - (CN) Patent Number CN 102905640, Application number CN 201180021909.X “**One-Degree-of-Freedom Link Device, A Robot Arm Using the Same and A Surgical Robot Comprising the Same**", (Foreign Application Priority Data KR2010-0029236) (등록일: 2015.07.01, 출원일: 2011.03.31) 
  - (US) Patent Number US 8738178, Application Number 12/090,350, "**Method for Controlling the Walk of Humanoid Robot**", (Foreign Application Priority Data KR2005-0098713) (등록일: 2014.05.27, 출원일: 2005.10.24)
  - (US) Patent Number US 8447429, Application Number 12/809,004 "**Apparatus and Method for Balancing and Damping Control in Whole Body Coordination Framework for Biped Humanoid Robot**", (Foreign Application Priority Data KR2007-0132416) (등록일: 2013.05.21, 출원일: 2007.12.21)
  - (JP) Patent Number JP 4994385, Application Number 2008-536473, "**Method for Controlling the Walk of Humanoid Robot**", (Foreign Application Priority Data KR2005-0098713) (등록일: 2012.08.08, 출원일: 2008.04.14)
  - (JP) Patent Number JP 4006295, Application Number 2002-239507  "**Apparatus and Method of Removing Disturbances**", (Foreign Application Priority Data KR2001-0053847)  (등록일: 2007.08.31, 출원일: 2002.08.20) 
  - (US) Patent Number US 7116607, Application Number 10/232,826, "**Apparatus and method of removing disturbances during optical recording and/or reproducing**", (Foreign Application Priority Data KR2001-0053847) (등록일: 2006.10.03, 출원일: 2002.09.03) 
  - (GB) Patent Number GB 2381938, Application Number 2002-0020393, "**Apparatus and method for removing disturbance in a recording medium drive system**", (Foreign Application Priority Data KR2001-0053847) (등록일 : 2004.05.19, 출원일: 2002.09.03)
  - (CN) Patent Number CN 1404061, Application Number 2002-132144   "**Equipment and method for eliminating disturbance**", (Foreign Application Priority Data KR2001-0053847) (등록일 : 2003.03.19, 출원일 : 2002.09.03) \\

** PCT ** 

  - (PCT) WO/KR2021/167229, 국제출원번호 PCT/KR2020/019027, “**Robot Gripper**", (Foreign Application Priority Data 2020-0019494) (공개일 2021년 8월 26일: 출원일: 2020.12.23)
  - (PCT) WO/KR2021/133070, 국제출원번호 PCT/KR2020/019025, “**Roll Joint**", (Foreign Application Priority Data 2019-0175070) (공개일 2021년 7월 1일: 출원일: 2020.12.23)
  - (PCT) WO/2019/013528, 국제출원번호 PCT/KR2018/0078155, “**Artificial Joint**", (Foreign Application Priority Data KR2018-0012969) (공개일 2019년 1월 17일: 출원일: 2018.07.10)
  - (PCT) WO/2017/069456, 국제출원번호 PCT/KR2016/011485, “**Object-shape-adaptive Prosthetic Robot Finger**", (Foreign Application Priority Data KR2015-0145283) (공개일: 출원일: 2016.10.13)
  - (PCT) WO/2017/171125, 국제출원번호 PCT/KR2016/003350, “**Skin Sensation Measurement Apparatus**", (Foreign Application Priority Data KR2015-0044003) (공개일: 출원일: 2016.03.31)
  - (PCT) WO 12-036426, 국제출원번호 PCT/KR2011/006696, “**Planetary Gear System Using Two Input Characteristic and Gear Module Thereof and Method for Controlling the Same**", (Foreign Application Priority Data KR2010-0089883 & KR2011-0090272) (공개일: 2012.03.22, 출원일: 2011.09.09)
  - (PCT) WO 11-122862, 국제출원번호 PCT/KR2011/002206, “**Manipulator using Stackable 4-BAR Mechanisms for Surgery robot**", (Foreign Application Priority Data KR2010-0029236) (공개일: 2011.10.06, 출원일: 2011.03.31)
  - (PCT) WO 10-076918 국제출원번호 PCT/KR2009/001113, “**Micro Endoscope with Distal End Adjustable in Angle and Curvature**", (Foreign Application Priority Data KR2009-0000443) (공개일: 2010.07.08, 출원일: 2009.03.05) 
  - (PCT) WO 09-078499, 국제출원번호 PCT/KR2007/06750, “**Apparatus and Method for Balancing and Damping Control in Whole Body Coordination Framework for Biped Humanoid Robot**", (Foreign Application Priority Data KR2007-0132416) (공개일: 2009.06.25, 출원일: 2007.12.21)
  - (PCT) WO 07-046568, 국제출원번호 PCT/KR2005/003536, “**A Method for Controlling the Walk of Humanoid Robot**", (Foreign Application Priority Data KR2005-0098713) (공개일: 2007.04.26, 출원일: 2005.10.24) \\


** Applications **

  - (출원) (US) Application Number US 17/880,805 “**Robot Gripper**", (Foreign Application Priority Data 2020-0019494) (출원일: 2022.08.04)