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Robotics for Mankind

ROFORMAN Inc.

ROFORMAN Inc. develops various robots that assist humans.

As an in-house startup of Seoul National University Hospital (Medical Robotics and Actuator Systems Laboratory), ROFORMAN Inc. selects items with high demand and solvable by robotic technology from among the unmet needs of the medical field requested by all clinical departments and divisions. Through collaboration between top robotics experts and medical staff, the company develops robots that satisfy these unmet needs.

ROFORMAN Inc.

Head Office: 6F, Institute of Convergence Medical Technology, Seoul National University Hospital, 214 Yulgok-ro, Jongno-gu, Seoul, Korea

R&D Center: Room 201, Gwanak S-Valley Startup Center, 597 Hoam-ro, Gwanak-gu, Seoul, Korea

E-mail: info@roforman.com / ybbang@snu.ac.kr

Research & Development

Automated Assistance System for Medication Compounding

  • Reduces pharmacist workload and improves safety through advanced automation
  • Achieves high compounding precision with a peak-to-peak error of 0.09 %
  • Implements a plunger speed profile to eliminate cavitation-induced air bubbles in syringes
Compounding system structure
System structure
Compounding prototype
Prototype

Upper Limb Power-Assist Wearable Robot for Daily Logistics Tasks

  • Provides precise vertical lifting assistance of 2 kgf per arm
  • Features a torque control algorithm that compensates for link deflection and user posture
  • Lightweight 6-DOF design enables a wide range of natural arm movements
Upper limb mechanism
Mechanism
Upper limb robot
Robot

Power-assisted wheelchair with gravity and friction compensation

  • Easy movement on slopes as on flat land
  • Compensation of the gravity force
  • Compensation of the friction force in the driving mechanism

Stair-climbing wheelchair

  • Self-operating system with no human help
  • Measuring the shape of stairs on real-time
  • Small, simple, and stable leg mechanism
  • Comfortable ride due to linear climbing motion

4-axis moving platform for simulating respiratory motion in radiotherapy

  • When performing the respiratory-gated radiation therapy (RGRT), the quality assurance (QA) process is required.
  • Conventional moving platforms for QA generate 3D motions (xy motion and index motion), but for more precise QA, the motion platform should generate 4D motions (xyz motion and index motion).
4-axis moving platform
4-axis moving platform

Automatic immobilization board for breast cancer radiotherapy

  • Radiotherapy for breast cancer is conducted 28ā€“33 times.
  • To keep the pose of a patient at every treatment, the immobilization board is used.
  • When using conventional immobilization boards, a therapist adjusts supporting parts manually. Because of time constraints, a therapist use only a few adjusting parts.
  • The automatic immobilization board can control all the adjustments at the same time. By using it, a therapist can setup the pose of patients quickly and precisely.
Immobilization board 1
Immobilization board 2

Automatic abdominal breathing machines for quadriplegics or Pompe patients

  • This machine helps patients breathe by pushing and releasing the abdomen.
Abdominal breathing machine 1
Abdominal breathing machine 2

Robotic C-arm platform with holonomic motion and automatic repositioning

  • Problems in operating C-arms
    • Non-holonomic motion ā‡’ Difficulty in position setting
    • Repositioning process ā‡’ Radiation exposure
  • We are developing a robotic C-arm platform, which can perform
    • Precise holonomic motions with active casters, and
    • Automatic repositioning with machine vision and laser sensing.
C-arm overview
C-arm platform
C-arm
C-arm diagram

Exoskeletal master device for dual arm robot teaching and teleoperation system

  • Exoskeletal master device, which enables
    • intuitive control,
    • precise measurement, and
    • unconstrained arm motions.
  • Robot teleoperation system, which consists of
    • dual-arm slave robot and stair-climbing mobile platform,
    • 3D camera and monitor, and
    • wireless transmission system.
Exoskeletal experimental setup
Experimental setup
Master device (2x playback)
Demonstration of teleoperation (2x playback)

Human interactive humanoid arm & hand

  • External force sensing
  • Adjustable torsional stiffness of each joint
  • Slim size and compact design
  • Hollow core structure
  • All-in-one solution consists of a motor driver, controller, and power module

3-DOF anthropomorphic oculomotor simulator

  • 3-DOF movement (Listing's law)
  • Peak velocity and acceleration: 800 deg/s, 30,000 deg/sĀ²
  • Diameter: 27mm
  • Can move in 3-DOF and rotates fast
  • Same rotational radius as the human eyeball
  • Can be installed in a human-head-sized curvy frame

Kendo training robot and its motion teaching method

  • Repeated exercise is essential to learn Kendo skills
  • For kendo exercise, a partner is needed
  • Robot can be an excellent assistant in Kendo training
  • No need for worrying about injury by robot
  • The ripple effect on technology is great
  • Teaching of various complex Kendo motions

High power and precision smart actuators

  • High positioning accuracy enabled by the dual absolute encoder system
  • No need for a backup battery or a brake in securing output position
  • High power and power density
  • High mechanical accuracy and durability suitable for industrial robots
  • Hollow structure for easy cable wiring
  • Easy connection with other smart motors or robot frames
  • Short, cylindrical, symmetrical shape allowing compact assembly
Smart actuator 1
Smart actuator 2