baber/WOPTO huggingface dataset:
Patent KR-20160096900-A (KR)
Inventor: MAENG YONG SUN
IPC: A61K38/17
Filed: 2015-02-06
Abstract: The present invention relates to a pharmaceutical composition for promoting angiogenesis, comprising BIGH3 protein. The pharmaceutical composition of the present invention has significant effects in inducing angiogenesis by promoting the differentiation of vascular endothelial stem/precursor cells, thereby being expected to be used for treating cardiovascular diseases including ischemic heart diseases.
Patent KR-20160098592-A (KR)
Title: Turbo charger system for engine
Inventor: LEE JUNG HUN
IPC: F02B39/00
Filed: 2015-02-09
Abstract: The present invention relates to a turbo charger system for an engine and, more specifically, relates to the turbo charger system for the engine provided with a supply channel of a lubricant, capable of an easy installation of a turbo charger on the engine. To achieve the purpose, the turbo charger system comprises: an engine to convert the thermal energy into the mechanical energy by a piston movement; a turbo charger to compress and supply air to a combustion chamber of the engine using an exhaust gas discharged from the engine; and a support to support the turbo charger, and integrally provided with an inflow hole of the compressed air to send the compressed air of a compressor to the combustion chamber of the engine, in order to install the turbo charger on the engine.
Patent KR-20160103439-A (KR)
Inventor: KIM OK SAM
IPC: B01J19/24
Filed: 2015-02-24
Abstract: The present invention relates to an apparatus for eliminating waste catalyst, to remove waste catalyst present inside a pipe of a reactor in a petrochemical plant and, more specifically, relates to an apparatus for eliminating waste catalyst, which inserts a wire connected to a motor to the inside of the pipe, thereby removing the waste catalyst inside the pipe by the operation of a motor in an easy manner.
Patent KR-20160059930-A (KR)
Inventor: HONG SHIH PING
IPC: H01L27/115
Filed: 2015-02-27
Abstract: Disclosed is a memory device. The memory device comprises blocks of memory cells to provide a gate-all-around structure by comprising: a plurality of stacks of horizontal active lines such as NAND string channel lines; a plurality of vertical slices which are penetrated by the horizontal active lines while surrounding the horizontal active lines; and a memory film arranged between the horizontal active lines in the stacks and vertical slices in the vertical slices. Provided is a three-dimensional planar channel gate-all-around NAND flash memory. A method to manufacture the memory accompanies a buttress process. The buttress process enables gate-all-around structures of a planar channel.
Patent KR-20150106366-A (KR)
Inventor: OKUNISHI NAOHIKO
IPC: H05H1/46
Filed: 2015-03-10
Abstract: When a high-frequency noise, which comes from an electrical member except a high-frequency electrode inside a processing chamber to a line such as a feed line or a signal line or the like, is blocked by using multiple parallel resonant characteristics of a distributed constant line, a resonant frequency is adjusted or optimized by arbitrarily shifting the resonant frequency without degrading voltage resistance characteristics or an impedance function with respect to the high-frequency noise. In a filter unit, combteeth (M) of a combteeth member (114) are inserted into each winding gap of each air-core coil (104(1), 104(2)). For example, a first combtooth (M-) having a thickness (m-) smaller than the standard thickness (ms) is mainly arranged inside an effective section (A) of the center of a coil, and a second combtooth (M+) having a thickness (m+) larger than or the same as the standard thickness (ms) is arranged inside a non-effective section (B) of both ends to both sides.
Patent KR-20150108765-A (KR)
Inventor: COCKLIN THOMAS G
IPC: B23K3/03
Filed: 2015-03-13
Abstract: An integrated soldering device comprises: a wire feed mechanism, a heater configured to heat the wire, and an air recirculation system. The heated wire is fed from the soldering device, and functions as a soldering tip as the soldering device is used. The air recirculation system collects fumes and smoke generated by the soldering process.
Patent KR-20160113399-A (KR)
Title: System for Providing Traffic Guide Using Solar and Wind
Inventor: YOO YONG SN
IPC: F03D3/00
Filed: 2015-03-19
Abstract: Provided is a traffic guidance display system using wind and solar energy. The traffic guidance display system using wind and solar energy comprises: a wind power generation unit including an impeller rotated by wind introduced from the outside, a generator accommodated in the impeller and integrally rotated with the impeller, and a post supporting the impeller and the rotation shaft of the generator and separating the impeller and the generator from an installation surface; a support structure including a gradient frame having an outward gradient on an upper portion of the impeller and a support frame coupled to the post to support the gradient frame; a solar generation unit including a solar battery plate installed at an upper surface of the gradient frame of the support structure and absorbing solar energy to generate electric energy; and a traffic guidance display board lighting an LED using electric energy generated by the wind power generation unit and the solar generation unit and installed in a protective facility of a road to ensure visibility. According to the present invention, the traffic guidance display system using wind and solar energy ensures visibility by directly installing a traffic guidance display board lighting an LED using electric energy generated by the solar generation unit and the wind power generation unit in a guidance board displaying a sharp curve of a road or a construction site of a rod, a guide rail installed at a side of the road to prevent a vehicle from escaping from the road and protect a pedestrian, a median of a road, and a protective facility such as a protective wall, thereby increasing safety and practicality of a vehicle or a pedestrian.
Patent KR-20160116210-A (KR)
Inventor: OH HONG SEOK
IPC: H02K1/12
Filed: 2015-03-27
Abstract: The present invention relates to a folding type stator core, and to a folding type stator core formed by winding a stripe type core member having a plurality of teeth parts to combine both ends. According to the present invention, the stripe type core member comprises: a plurality of teeth parts; a back yoke part installed in the outside of each teeth part; a coil winding part installed between each teeth part and each back yoke part; a cut part installed between the back yokes; and a connection part installed in an outer end part of each cut part. A plurality of stripe type core members are overlapped in a front/rear direction and both end parts of each core member having a state wound in a circular shape are combined through a combination means. Thus, since coil winding and combination of the core member are facilitated, productivity improvement and cost reduction are promoted.
Patent KR-20160116391-A (KR)
Title: 치커리와 가공 부자가 함유된 금연보조제
Inventor: PARK U JIN
IPC: A24B15/16
Filed: 2015-03-30
Abstract: 본 발명은 치커리와 부자성분이 함유된 금연 보조제에 관한 것으로 금단증상을 극복하면서 금연할 수 있는 금연보조제를 제공하기 위하여, 치커리를 정제 처리하여 약35~40℃의 온도에서 48시간 자연발효 한 다음 100℃~110℃의 온도에서 4~10분간 볶음 처리된 커피향이 나는 치커리40~50중량부를 주제로 하고 여기에 무독성 가공부자 10g을 1ℓ의 물에 넣어 100℃-110℃ 온도로 30분간 끓인 용액 0.1중량부와, 박하엽15~25중량부와, 쑥을 세정하여 100℃의 증기에 10~15분간 증숙(蒸熟)하여 자극성을 경감한 쑥20~30 중량부와, 보습제로 50~60% 농도의 에틸렌 글리콜 5~10 중량부를 혼합하여 조성된 것이다. 
본 발명의 금연보조제를 권연, 또는 파이프로 끽연(喫煙)하면 치커리(chicory)에서 발생되는 커피(coffee) 향과 박하에서 발생되는 맨톨(menthole)성분의 청량감과, 쑥의 연기에서 나오는 고미(苦味)가 구강에서 복합적으로 조화되어 담배 보다 좋은 향과 맛을 내면서 니코틴(nicotine) 성분이 전혀 없고 또한 극미량의 무독성 가공부자의 성분이 훈증(薰蒸)상태로 흡입되어 심신이 불안한 금단증상(withdraw syndrome)을 진정시키어 편안한 생태에서 금연할 수 있다.
Patent KR-20160121052-A (KR)
Inventor: JANG KUN DAE
IPC: H04N5/44
Filed: 2015-04-09
Abstract: The present invention relates to a monitor support device. The monitor support device includes: a support unit coupled to an object to be fixed; a location change arm unit coupled to the support unit to support a monitor and changing a location of the monitor; and an angle adjusting unit connecting the location change arm unit and the monitor, and changing an angle of the monitor.
Patent KR-20160123196-A (KR)
Title: Online automatic death recognition algorithm and system
Inventor: ROH JAE IL
IPC: G06Q50/30
Filed: 2015-04-15
Abstract: The present invention relates to an intelligent death recognition algorithm and an intelligent death recognition system. The intelligent death recognition system comprises a crawling database (DB) server, a policy and control server and a transmission server. The crawling DB server stores crawling information, various pieces of population statistics information and member context information. The policy and control server manages a testament service policy, server operation setting, a security policy or the like. The transmission server transmits a death message to a designated receiver through various interfaces. Social costs due to heritage disputes are minimized through automatic death recognition and performance of a related testament, and information on a digital intellectual property right, which can potentially die out or cause a disputable issue, is automatically collected to be transferred to a heritor or a deputy.
Patent KR-20150045993-A (KR)
IPC: C21D8/12
Filed: 2015-04-17
Abstract: The present invention relates to a non-oriented electrical steel sheet and a manufacturing method thereof. The basic composition is composed of 2.5-3.5 wt% of Si, 0.5-1.5 wt% of Al, 0.05-0.8 wt% of Mn, 0.05 wt% or less of P (except for zero wt%), and 0.0008-0.003 wt% of Mg. In addition, one selected between 0.01-0.08 wt% of Sn and 0.005-0.05 wt% of Sb. The sum of Sn and Sb is 0.01-0.1 wt%. Additionally, the rest of Fe and inevitable impurities are included.
Patent KR-20160126316-A (KR)
Title: Oil outflow purifying apparatus with using magnetism
Inventor: SHIN MIN YONG
IPC: C02F103/00
Filed: 2015-04-23
Abstract: The present invention relates to a spilled oil purifying apparatus using magnetism, designed to collect spilled oil. More specifically, the present invention relates to a spilled oil purifying apparatus using magnetism, which can quickly collect, by means of magnetism, oil floating on an upper part by specific gravity after leaked out to the sea, streams, and waterways, so as to separate the oil.
Patent KR-20160126355-A (KR)
Inventor: SONG JAE SU
IPC: H01Q3/26
Filed: 2015-04-23
Abstract: According to an embodiment of the present invention, an antenna apparatus having a single RF chain comprises: a synthesizer for performing a sector sweep by dividing the total direction into N sectors, synthesizing a receiving signal received through the single RF chain for each sector, and measuring a gain of a synthesizing signal; a comparator for distinguishing a gain size of the synthesizing signal; and a controller for performing beamforming according to a gain size comparing result of the comparator. The antenna apparatus enables an antenna using the single RF chain to implement a multi-path receiving diversity effect, which is only possible by configuring an array antenna by using several RF chains.
Patent KR-20160126358-A (KR)
Title: Drone-type smart carwash robot
Inventor: SHIN JUNG MIN
IPC: B60S3/04
Filed: 2015-04-23
Abstract: The present invention provides a drone type smart car wash robot. According to the present invention, the drone type smart car wash robot detects unclean state information and shape information of a car while performing unmanned flights around the car, and then performs automatic and intelligent car wash while flying in accordance with a flight path and a car wash control signal calculated in a customized manner corresponding to the unclean state information and the shape information; thereby being capable of conveniently and easily performing frequent car wash while minimizing restriction of a place and time for the car wash, and washing only the unclean portions of the car having more than a reference value to save costs on the car wash and to increase the efficiency of the car wash. According to the present invention, the drone type smart car wash robot comprises: a flight vehicle module performing unmanned flight by any one selected between a manual operation by a manager on the land and automatic operation by a set flight program; a car scanning module mounted on the flight vehicle module, scanning the car to be washed while moving integral with the flight module; a car wash module mounted on the flight module, washing the car while moving integral with the flight module; and a controller controlling the operation of the flight module, the car scanning module, and the car wash module.
Patent KR-20160128080-A (KR)
Title: Burner boom system and boom grip arm install structure
Inventor: CHOI GYU HYUN
IPC: B63B35/44
Filed: 2015-04-28
Abstract: The present invention relates to a burner boom system and a boom grip arm installation structure. The burner grip system comprises a boom grip arm which is hinged to the side surface of the top of a burner boom rest to be rotated in order to park a burner boom to the top end of the burner boom rest and has a hook part locked to the burner boom in one side and a wire connection part in the other side on the basis of the hinge, wherein the boom grip arm is rotated around the hinge at an angle of 180 degrees to prevent interference when the burner boom passes through the burner boom rest.
Patent KR-20160129970-A (KR)
Title: A method, a system and a computer readable storage medium for automatically managing whether or not to work
Inventor: KANG TAE JEONG
IPC: G06Q10/06
Filed: 2015-04-30
Abstract: The present invention relates to a method of automatically managing absenteeism and tardiness performed in a system comprising a beacon communications module, a management server, an employer terminal and at least one employee terminal, and to computer-readable storage medium therefor. The method and system enables automated management of absenteeism and tardiness, and allows an employer to be selectively notified of attendance information of employees, not to be notified of every attendance, thereby reducing inconvenience resulting from checking messages and checking about absenteeism and tardiness while securing flexibility for work hours. Accordingly, flexible automatic management of absenteeism and tardiness may be achieved.
Patent KR-20160129399-A (KR)
Inventor: LEE JAE HO
IPC: B25J9/16
Filed: 2015-04-30
Abstract: The present invention relates to a robot control system including a cloud, a terminal, and a robot, and provides a robot control programming system capable of receiving a conditional expression from the cloud and generating a new conditional expression more easily and efficiently by using the received conditional expression.
Patent KR-20160133251-A (KR)
Inventor: KIM JEONG YEOL
IPC: A41C3/04
Filed: 2015-05-12
Abstract: 본 발명은 브래지어 안쪽에 설치하여 수유기간 여성에게 흘러나오는 모유를 흡수하는 모유 패드에 관한 것으로서, 특히 전면 커버지(11)와 배면 커버지(12) 사이로 흡수체(13)를 내장한 패드 몸체(10)를 돔 형태로 형성하고, 상기 패드 몸체(10)의 배면 커버지(12)에 접착부(15)를 형성하여 브래지어 컵부(2) 내측에 부착하되, 상기 패드 몸체(10)의 바깥쪽 상부에 클립(20)을 결합 설치 구성하여 브래지어 컵부(2)의 상부에 간단히 끼워 조립 설치하므로 패드 몸체를 견고하게 지지시켜 사용중 흘러 내림을 방지하므로 사용 만족성을 우수하게 제공하는데 그 특징이 있다.
Patent KR-20160134944-A (KR)
Title: 멀티탭
Inventor: JANG JOON YOUNG
IPC: H01R13/46
Filed: 2015-05-14
Abstract: 본 발명에 따른 멀티탭은 플러그를 수용하는 접속단자(112)가 복수 개 배치된 케이스(11)와 탈착되게 형성된 전원선부(13)를 포함하며, 상기 전원선부(13)는 일정한 길이의 전원선(131), 상기 전원선(131)의 일단에 설치된 플러그단자부재(133), 및 상기 전원선(131)의 타단에 설치된 접속단자부재(135)로 이루어지고, 복수개의 상기 전원선(131)이 탈착되는 것을 특징으로 한다.
Patent KR-20160059403-A (KR)
Inventor: SUNG JONG WOO
IPC: G06Q30/02
Filed: 2015-05-15
Abstract: 컴퓨팅 기술, 구체적으로 매장 내 진열된 상품들의 정보를 전자적으로 표시하는 복수의 전자 라벨의 디스플레이를 이용하는 광고 이미지 생성 장치 및 방법에 관련된 기술이 개시된다.  일 실시예에 따른 복수의 전자 라벨의 디스플레이를 이용하는 광고 이미지 생성 장치는 비일시적인 메모리, 메모리에 저장되는 하나 이상의 컴퓨터 프로그램, 컴퓨터 프로그램을 실행하는 마이크로 프로세서 및 통신모듈을 포함한다.  일 실시예에 따른 컴퓨터 프로그램은 일 그룹의 전자 라벨들의 광고 영역에 표시할 광고 이미지를 획득하는 광고 이미지 획득부, 광고 이미지로부터 일 그룹의 개별 전자 라벨들이 표시하는 부분 표시 이미지를 생성하는 전자 라벨별 표시 이미지 생성부, 일 그룹의 개별 전자 라벨들 각각에게 부분 표시 이미지를 전송하는 전자 라벨별 표시 이미지 전송부를 포함한다.
Patent KR-20160135082-A (KR)
Title: A warning light having search light for emergency vehicles
Inventor: GIM BYEONG NGUK
IPC: F21W107/00
Filed: 2015-05-15
Abstract: The present invention relates to a searchlight-embedded warning light for an emergency vehicle. A searchlight is embedded in a warning light body, and a front screen of the warning light body is able to be changed to a transparent window or lighting panel, or the transparent window or lighting panel is able to be opened and closed. Therefore, the present invention is capable of improving a structure about the separation and installation of a searchlight and a warning light as well as solving a problem about covering light of the warning light when using the searchlight or lighting panel, while preventing the degradation of the original function of the warning light for an emergency vehicle.
Patent KR-20160135560-A (KR)
Inventor: JO SI HUN
IPC: F16H59/14
Filed: 2015-05-18
Abstract: The present invention relates to an imbalance torque compensation control method for a driving device, and an imbalance torque compensation control apparatus calculating imbalance torque of a driving device mounted in a platform in real-time to compensate the imbalance torque. The imbalance torque compensation control apparatus comprises: the driving device mounted in the platform; a posture measurement unit detecting posture information of the platform and the driving device; an imbalance torque calculation unit calculating the imbalance torque of the driving device caused by weight imbalance in real-time based on the detected posture information; and a control unit compensating a torque command of the driving device using the imbalance torque calculated in the imbalance torque calculation unit.
Patent KR-20150133151-A (KR)
Inventor: LEE JEONG YONG
IPC: F16B37/00
Filed: 2015-05-19
Abstract: 볼트와 너트에 유연하게 휠 수 있는 재질로 돌출부와 홈으로 결합하게 되는 결합구를 볼트와 너트의 양측에 돌출부 또는 홈을 형성하여 일부러 큰 힘을 가하지 않으면 풀리지 않게 되는 것이다.
Patent KR-20150143302-A (KR)
Inventor: KAKUDA TYLER R
IPC: G02F1/1335
Filed: 2015-05-26
Abstract: An electronic device may have a housing in which components for producing heat are mounted. The heat producing components may be light-emitting diodes mounted on a flexible printed circuit in a display backlight, may be integrated circuits, or may be other devices that generate heat during operation. A heat spreading layer such as a graphite layer may be attached to the backlight unit or other structures in the electronic device using an adhesive. The adhesive may be patterned to form an unbonded area between at least some of the backlight unit or other structures to which the heat spreading layer is being attached and the heat spreading layer. The heat spreading layer may be mounted adjacent to a housing structure such as a metal mid-plate member attached to housing walls in the housing.
Patent KR-20160141136-A (KR)
Inventor: KIM WOON SOO
IPC: G01M3/22
Filed: 2015-05-28
Abstract: The present invention relates to a method for inspecting airtightness of a welded portion of a ship cargo tank, which can accurately and safely inspect airtightness of a welded portion of a first protective wall of a ship cargo tank, and a jig for securing airtightness, which can be used conveniently in an inspection of the welded portion to inspect the airtightness of the welded portion safely. The method for inspecting airtightness of a welded portion of a ship cargo tank comprises: a step of installing a confirmation window; a step of injecting ammonia gas; a step of confirming ammonia gas injection; a step of applying ammonia reaction paint; and a welding inspection step.
Patent KR-20160143002-A (KR)
Inventor: PARK SI MONG
IPC: G01R33/00
Filed: 2015-06-04
Abstract: The present invention relates to a terrestrial magnetism measuring device and a method thereof. The device comprises: at least one slope sensor; a terrestrial magnetism sensor; a horizontality maintaining unit configured to maintain horizontality of the terrestrial magnetism sensor; a rotation unit configured to rotate the terrestrial magnetism sensor by a predetermined angle; and a control unit configured to control the horizontality maintaining unit to maintain the horizontality of the terrestrial magnetism sensor and control the rotation unit while the horizontality of the terrestrial magnetism sensor is maintained to calibrate the terrestrial magnetism sensor. According to the present invention, the terrestrial magnetism sensor can be calibrated by using a small amount of data, thereby efficiently performing magnetic north calculation.
Patent KR-20160147344-A (KR)
Inventor: KIM KYOUNG JOONG
IPC: A61M15/08
Filed: 2015-06-15
Abstract: The present invention relates to a nose adhesive band for purifying breathing air. The nose adhesive band for purifying breathing air comprises: an adhesive holder (10); a skin adhesive label (20) including an adhesive (20b) attached to a cushioning label (20a); a nostril inlet adhesive label (30) including a ring-type adhesive (30b) attached on an upper surface of a cushion ring (30a); a philtrum adhesive label (40) including an adhesive (40b) attached to a rectangular cushioning label (40a); and a disk-like air purification filter (40).
Patent KR-20160148123-A (KR)
Title: Flat display apparatus and method of manufacturing the same
Inventor: LEE MIN WOO
IPC: G06F3/041
Filed: 2015-06-15
Abstract: One embodiment of the present invention discloses a flat display device. The flat display device comprises a first substrate, a display part on the first substrate, a second substrate facing the first substrate, a touch screen layer located on the first side of the second substrate, a protective layer located on the first side and covering the touch screen layer, and a sealing part which surrounds the display part between the first substrate and the second substrate and bonds the first substrate to the second substrate. The first side is a side facing the display part. The sealing layer is disposed between the first substrate and the protective layer. The protective layer includes an inorganic layer bonded to the sealing part. So, the touch sensitivity of the flat display device can be improved.
Patent KR-20170000469-A (KR)
Title: 실시간으로 쿠폰을 제공하는 지역 기반 마켓 시스템
Inventor: SONG NA YOUNG
IPC: G06Q30/06
Filed: 2015-06-24
Abstract: 본 발명은 실시간으로 쿠폰을 제공하는 지역 기반 마켓 시스템에 관한 것으로서, 보다 구체적으로는 업주 디바이스에 의해 관리가 가능한 상점 홈페이지를 제공 및 관리하며, 상기 업주 디바이스의 설정을 통해 업주의 오프라인 상점에서 사용할 수 있는 쿠폰을 상기 상점 홈페이지에 실시간으로 등록하는 홈페이지 관리 모듈; 및 복수의 상점 홈페이지를 오프라인 상점의 위치를 기반으로 자동으로 지역 마켓 사이트에 입점시키고, 상기 상점 홈페이지에 등록되는 쿠폰을 상기 지역 마켓 사이트에 실시간으로 게시하는 마켓 관리 모듈을 포함하며, 상기 마켓 관리 모듈은, 비콘시스템을 이용하여, 상기 오프라인 상점에 접근한 사용자 디바이스에, 상기 게시된 쿠폰 정보를 푸시메시지로 제공하는 쿠폰 제공부를 포함하는 것을 그 구성상의 특징으로 한다. 
본 발명에서 제안하고 있는 실시간으로 쿠폰을 제공하는 지역 기반 마켓 시스템에 따르면, 업주 디바이스에 의해 관리가 가능한 상점 홈페이지를 제공 및 관리하되, 복수의 상점 홈페이지를 오프라인 상점의 위치를 기반으로 자동으로 지역 마켓 사이트에 입점시킴으로써, 저렴한 가격으로 직접 관리가 가능한 상점 홈페이지를 운영하면서 지역 마켓 사이트를 통해 광고를 할 수 있어 편의성 및 광고 효율성이 향상될 수 있다. 
또한, 본 발명에 따르면, 업주에 의해 상점 홈페이지에 등록된 쿠폰을 비콘시스템을 이용해 오프라인 상점에 접근한 사용자 디바이스에 실시간으로 제공함으로써, 업주의 필요에 따라 실시간으로 쿠폰을 발행할 수 있으므로 업주의 리스크를 최소화할 수 있고, 방문 가능성이 높은 고객에게 쿠폰을 제공하여 오프라인 상점 방문을 적극적으로 유도할 수 있다.
Patent KR-20170001260-A (KR)
Title: 착용로봇의 경사지 자세유지 장치 및 방법
Inventor: SEO CHANG HOON
IPC: B25J9/16
Filed: 2015-06-26
Abstract: 본 발명은 착용로봇과 착용자의 결합된 질량중심의 지면 정사영점이 지지기저면의 내부에 위치하도록 상기 착용로봇의 각 관절부위의 각도를 조절하여 자세를 유지하는 착용로봇의 경사지 자세유지 장치 및 방법에 관한 것이다. 
본 발명에 따른 착용로봇의 경사지 자세유지 장치는, 착용로봇을 구성하는 각 관절부위의 회전각도, 상기 착용로봇의 자세, 상기 착용로봇에서 상기 착용자의 족부에 착용되는 족링크부(15)와 지면과의 반발력 및 상기 족링크부(15)에서 상기 반발력의 중심위치를 감지하는 센서부(21)와, 상기 착용로봇을 구성하는 각 관절부위의 회전각도를 조절하는 하는 구동부(23)와, 상기 센서부(21)로부터 입력되는 입력값으로부터 상기 착용로봇의 질량중심(COM), 질량중심의 지면 정사영점과 지지기저면(BOS)의 위치를 산출하고, 상기 착용로봇의 질량중심(COM)의 지면 정사영점이 지지기저면(BOS)의 내부에 위치하는지를 판단하며, 상기 질량중심(COM)의 지면 정사영점이 지지기저면(BOS)의 내부에 위치하지 않고 있으면, 상기 구동부(23)를 제어하여 상기 관절부위의 회전각도를 조절시켜 상기 질량중심(COM)의 지면 정사영점이 상기 지지기저면(BOS)의 내부로 이동시키는 제어부(22)를 포함한다.