baber/WOPTO huggingface dataset:
Patent KR-20160104764-A (KR)
Inventor: KIM TAE HO
IPC: A45F4/08
Filed: 2015-02-26
Abstract: The present invention relates to a backpack-type one-touch aerated sleeping bag which comprises: a mattress into which air is injected; an insect-proof net preventing infestation of insects; a supporting frame supporting the insect-proof net; a fixing pin fixating the sleeping bag onto the ground; shoulder straps held on shoulders after the sleeping bag is folded up; a zipper allowing a user to get in and out of the sleeping bag after the sleeping bag is set up; and an air injection device attached to the mattress so that air can be injected.
Patent KR-20150106345-A (KR)
Title: Touch panel, display device, optical sheet, method for selecting optical sheet, and method for manufacturing optical sheet
Inventor: FURUI GEN
IPC: G02B5/02
Filed: 2015-03-04
Abstract: The present invention provides a touch panel which can give several features like anti-glare property and also can prevent glittering of an image light of an ultra high precision display device with a pixel density of 300 ppi or more. The touch panel has an optical sheet as a component member, and the optical sheet has an uneven shape on a surface thereof, and the uneven shape satisfies at least one condition selected from (A) through (C) below. And the touch panel is used on a front surface of a display device of pixel density 300 ppi or more. According to a condition (A), an interval of an inclined angle showing a value of 1/2 of a peak value of an inclined angle distribution curve of the uneven shape is 5 ~ 15°. According to a condition (B), an inclined angle indicating an inflection point in a plus direction from the inclined angle showing the peak value of the inclined angle distribution curve of the uneven shape is 4 ~ 15°, and a difference between the inclined angle indicating the inflection point in the plus direction and the inclined angle showing the peak value of the inclined angle distribution curve is 2.2 ~ 10°. According to a condition (C), the inclined angle showing the peak value of the inclined angle distribution curve of the uneven shape is 2 ~ 8°, and skewness of the inclined angle distribution of the uneven shape is 0 ~ 1.5 and/or kurtosis of the inclined angle distribution of the uneven shape is 1.5 ~ 6.
Patent KR-20160108672-A (KR)
Inventor: KANG TAE KYUNG
IPC: C02F1/68
Filed: 2015-03-04
Abstract: The present invention relates to a system for manufacturing carbonated water, capable of providing carbonated water with various concentrations. According to one embodiment of the present invention, the system comprises: a storage tank to store cold water; a CO_2 cylinder to store CO_2; a mixer to receive the cold water from the storage tank through a cold water supply path, receive CO_2 from the CO_2 cylinder through a CO_2 supply path, and generate carbonated water inside; a pump installed in the cold water supply path to provide pressure into the cold water supply path; a discharge path connected to the mixer to supply the carbonated water to the outside; a first drain path connected to the mixer to drain the carbonated water; and a second drain path connecting the cold water supply path between the storage tank and the pump with the first drain path.
Patent KR-20160112658-A (KR)
Inventor: JIN YONG HEE
IPC: B05C17/02
Filed: 2015-03-20
Abstract: According to an embodiment of the present invention, an impurity removing apparatus comprises: a housing member arranged on one side of a roller; a removal unit arranged inside the housing member, and removing impurities on the roller by coming in contact with the roller; and a suction unit which sucks the removed impurities by providing a suction strength to the space inside the housing member.
Patent KR-20160114284-A (KR)
Title: Cotton for emitting a perfume and producing process
Inventor: KIM HWAN SUN
IPC: A45D34/00
Filed: 2015-03-24
Abstract: The present invention relates to a perfumed cosmetic cotton pad and a manufacturing method thereof. The perfumed cosmetic cotton pad emits fragrance for a long period of time by impregnating a perfume component extract extracted from herbal medicines or herbs into a non-woven fabric or cotton composing a general cosmetic cotton pad, thereby helping a user change mood, recover fatigue, and take a metal rest. The perfumed cosmetic cotton pad of the present invention: avoids chemical use, and thus is environmentally-friendly, and does not generate troubles on the skin of the user; emits fragrance for a long period of time by being impregnated with the perfume extract, and thus has a function to help the user change mood, recover fatigue, and take a mental rest, thereby being useful; and has an additional effect of helping skin care of the user when using a herbal medicine extract having skin care effects. In addition, according to the present invention, the method for manufacturing the cosmetic cotton pad: softens the cotton through various processes, and thus enables the user to feel softer when using the cosmetic cotton; and includes individual steps formed into a series of processes, thereby being able to manufacture the perfumed cosmetic cotton pad according to the present invention.
Patent KR-20160118835-A (KR)
Title: Apparatus and method of fabricating boron nitride nanotube
Inventor: OH IN SEOUP
IPC: C01B21/064
Filed: 2015-04-03
Abstract: The present invention provides an apparatus for producing a boron nitride nanotube comprising: a process chamber; a negative electrode carbon rod positioned within the process chamber; a positive electrode carbon rod which causes arc discharge with the negative electrode carbon rod and where a graphite powder mixture containing a metal catalyst is filled inside; and a gas injection port for injecting boron nitride precursor gas in the process chamber.
Patent KR-20160119587-A (KR)
Title: 카운팅 마스크를 이용한 ｄｄｓ 글로벌 카운팅 장치 및 그에 따른 씨모스 이미지 센서
Inventor: HWANG WON SEOK
IPC: H04N5/378
Filed: 2015-04-06
Abstract: 본 기술은 DDS 글로벌 카운팅 장치 및 그에 따른 씨모스 이미지 센서에 관한 것으로, 카운팅 마스킹을 통하여 카운팅 비트 수를 제어하여 감소시키기 위한 DDS 글로벌 카운팅 장치 및 그에 따른 씨모스 이미지 센서를 제공한다. 이러한 DDS 글로벌 카운팅 장치는, 글로벌로 동작하며 제어부로부터의 카운팅 마스크 신호에 따라 카운팅 비트 수를 제어하여 카운팅하기 위한 글로벌 카운팅부; 상기 제어부로부터의 카운팅 마스크 신호와 비교기로부터의 비교 결과 신호에 따라 저장 지시 신호를 생성하기 위한 원삿부; 상기 원삿부로부터의 저장 지시 신호에 따라 상기 글로벌 카운팅부로부터의 카운팅 값을 저장하기 위한 래치부; 및 상기 래치부로부터 로딩한 카운팅 값을 저장하기 위한 저장부를 포함할 수 있다.
Patent KR-20150067093-A (KR)
Inventor: KIM BONG JAE
IPC: H02N2/18
Filed: 2015-04-08
Abstract: The present invention relates to a portable self generation electricity water purifier which is easy to carry, secures power supply needed for self generation electricity without external power supply, purifies raw water to safe drinking water in a short period of time, and allows the same to be fit to drink. The present invention comprises: an upper case; a lower case in a container type putting water to be purified inside by having an accommodation unit in which an upper part is opened as an upper end is combined to correspond to a lower end of the upper case; a support bar vertically installed at the bottom of the upper case, and accommodated in the accommodation unit of the lower case when the upper case and the lower case are combined, where a lower end reaches a lower part of the lower case accommodation unit; a purified water filter installed in a plate form on the lower end of the support bar, descending from the accommodation unit of the lower case, and filtering foreign substances from raw water accommodated in the accommodation unit of the lower case; a self generation electricity member consisting of a coil installed in the upper case, and a magnet installed to be elevated in the upper case and generating electromotive force when the upper case moves by external force; and an UV lamp installed on a lower surface of the upper case, receiving electricity produced from the self generation electricity member, and emitting UV rays to raw water accommodated in the accommodation unit of the lower case when the upper case and the lower case are combined.
Patent KR-20160120538-A (KR)
Inventor: SONG CHANG SEAP
IPC: B29C67/00
Filed: 2015-04-08
Abstract: The present invention relates to a method for creating a three-dimensional object, and to an apparatus thereof. According to an embodiment of the present invention, an apparatus creating a three-dimensional object forms a three-dimensional object by stacking a melted material by layers, and comprises an extruder which melts and discharges an injected material. The extruder includes a driving motor shaft gear mounted on a rotating shaft of a driving motor, and at least two extrusion gears which can rotate by being interlinked with the driving motor shaft gear. A filament material is smoothly injected to the extrusion device, and a three-dimensional object having high quality can be created.
Patent KR-20160123467-A (KR)
Inventor: CHANG TAI WOO
IPC: G06F19/00
Filed: 2015-04-15
Abstract: The present invention relates to an apparatus and a method for arranging surveillance equipment. Specifically, the present invention relates to an apparatus and a method for arranging surveillance equipment to determine an arranging position of the surveillance equipment photographing a structure by using a genetic algorithm. According to an embodiment of the present invention, an arranging position and a view point direction of surveillance equipment capable of having a maximum surveillance area with a limited amount of money can be determined through the genetic algorithm before installing the surveillance equipment. The surveillance equipment arranging apparatus comprises: an input unit; a virtualization unit; a view point check unit; and an arrangement optimization unit.
Patent KR-20160124289-A (KR)
Title: Display device
Inventor: PARK JUNG HO
IPC: G09F9/30
Filed: 2015-04-16
Abstract: According to an embodiment of the present invention, a display device includes: a flexible display panel; a film window; an adhesive layer bonding the flexible display panel and the film window; a modification layer interposed between the film window and the adhesive layer; and a providing means providing electric fields or magnetic fields to the modification layer. The hardness of the modification layer can change according to the supply of electric fields or magnetic fields.
Patent KR-20160123755-A (KR)
Title: Server for managing import container and method for drop-off charge for destination invoice managing service of import container using the same
Inventor: SUH JUNG HO
IPC: G06Q10/08
Filed: 2015-04-17
Abstract: The present invention provides an imported container management server and a management service method for an invoice for drop-off charge for destination of an imported container using the same. According to an embodiment of the present invention, the management service method for an invoice for drop-off charge for destination of an imported container using the same comprises: a step of receiving a delivery order and invoice issue basic information (at least one piece of information related to change in a destination and invoice issue information) from a shipping company terminal by the imported container management server; a step of checking whether a destination of the container is changed by the imported container management server; and a step of determining whether to issue an invoice regarding change in the destination by using information related to change of the destination by the imported container management server when the destination of the container is changed. According to the present invention, the shipping company has no need to separately output an invoice or store an invoice as a file to manage a history list, and if necessary, can access an imported container management server.
Patent KR-20160123803-A (KR)
Title: Massage Mattress
Inventor: CHOI JI HYUN
IPC: A47C27/00
Filed: 2015-04-17
Abstract: The present invention relates to a massage mattress. More specifically, the present invention relates to a massage mattress which functions as a mattress giving comfort to a user in normal times and stimulates the body of the user as air rods come out to be contracted and extended by air pressure only when the massage mattress is in use. The massage mattress according to an embodiment of the present invention includes: an air pressure generator generating compressed air; a plurality of air hoses transferring the compressed air while having one side connected to the air pressure generator; a plurality of air rods which are connected to the other side of the air hoses, are expanded to ascend if the compressed air is injected, and are contracted to descend if the compressed air is discharged; and a massage unit comprising a support part in which the air hoses are arranged and which is supported by the air rods installed on an upper part. Since the support part and the air rods are installed in the mattress, the air rods appear and disappear repetitively on an upper part of the mattress.
Patent KR-20160127296-A (KR)
Inventor: JUNG JUNG IL
IPC: G06K9/62
Filed: 2015-04-24
Abstract: 본 발명은 주관적인 판단 대신 객관적인 사상 체질 판별을 위한 얼굴 영상 분석 방법에 관한 것이다. 사상체질 판별 모델 학습과정에서는 표본 영상에 대해 ASM(Active Shape Models)을 이용한 얼굴 영상의 특징점을 추출하고 정규화하여 사상체질 판별을 위해 정의한 특징값을 구한 뒤 SVM(Support Vector Machine)의 결정경계를 도출한다. 인식과정에서는 새로운 얼굴 영상에 대해 ASM을 이용한 특징을 추출하고 얼굴을 정규화한 뒤 특징값을 구하여, 학습과정에서 생성된 SVM 분류기를 이용해 최종 사상체질 결과를 도출한다. 본 방법은 성능평가를 통해 평규 92%의 인식률로 인식됨을 확인할 수 있었다.
Patent KR-20150053889-A (KR)
Inventor: KIM SUNG SOO
IPC: A23L33/00
Filed: 2015-04-29
Abstract: The present invention relates to a manufacturing method of a red ginseng fermented with a chaga mushroom comprising the steps of: (1) grinding a dried chaga mushroom into 1 to 10μm; (2) drying a saltless fast-fermented bean paste and grinding into 100 to 300μm; (3) mixing a powder of the saltless fast-fermented bean paste of the step (1) and purified water at a weight ratio of 1 : 1; (4) fermenting the mixed material of the step (3) for two or five days at 30 to 40°C; (5) filtering the fermented material and obtaining a fermented solution of the fast-fermented bean paste; (6) mixing the powder of the chaga mushroom of the step (1) and the fermented solution of the fast-fermented bean paste of the step (5) at a volume ratio of 20 : 1 and fermenting for three or ten days at 25 to 50°C; (7) preparing the powder of the dried ginseng with a size of 0.1 to 1mm ; (8) mixing the material of the step (6) and the material of the step (7) a volume ratio of 1 : 1 to 1 : 3 and fermenting for three or seven days at 20 to 45°C; and (9) drying the material of the step (8) and obtaining the ginseng powder fermented with the chaga mushroom.
Patent KR-20160134108-A (KR)
Inventor: KIM YOUNG SUK
IPC: B60B33/00
Filed: 2015-05-14
Abstract: 본 발명은 캐스터 브라켓이 바퀴 조립이 용이한 캐스터에 관한 것으로서, 더욱 상세하게는 양측면에 결합홈을 구비한 캐스터 브라켓과 중앙에 축 결합홈을 구비한 바퀴와 내주면 양측으로 삽입홈을 형성하며 다른 양측 내주면에 결합 돌기를 형성하는 캐스터 커버로 구성되며, 상기 바퀴의 축 결합홈에 바퀴 축이 회전 가능하게 결합되고 상기 바퀴에 바퀴 축이 결합된 상태로 상기 바퀴 축이 상기 캐스터 커버의 삽입홈에 삽입되며 바퀴가 결합된 캐스터 커버를 캐스터 브라켓 외측으로 감싸도록 끼우는 동시에 캐스터 커버의 결합 돌기와 상기 캐스터 브라켓의 결합홈이 결합되는 것으로서, 볼트, 너트 결합없이 구성 부품의 체결로 간단하게 조립이 가능하여 캐스터의 조립 시간을 줄일 수 있어 제품의 생산성을 향상시킬 수 있으며  또한, 상기 바퀴 조립 시 볼트와 너트 없이 바퀴의 축 결합홈에 바퀴 축을 조립한 상태에서 상기 바퀴와 바퀴 축을 캐스터 커버 내에 삽입 시킴으로서 캐스터 사용도중에 바퀴 축이 빠져서 바퀴가 이탈되는 폐단을 방지할 수 있는 캐스터 브라켓에 바퀴 조립이 용이한 캐스터에 관한 것이다. 
본 발명의 캐스터는 이동체(50) 저면에 고정 결합되며, 양측에 한 쌍의 결합홈(11)이 형성된 캐스터 브라켓(10)과; 상기 캐스터 브라켓(10)의 하측에 삽입되며, 중앙에 축 결합홈(21)이 형성된 바퀴(20)와; 상기 바퀴(20)의 축 결합홈(21)에 회전 가능하게 결합되는 바퀴 축(30) 및 상기 바퀴 축(30)이 상측으로 삽입되며, 양측 내주면에 한 쌍의 삽입홈(41)이 형성되고, 다른 양측 내주면에 한 쌍의 결합돌기(42)가 형성된 캐스터 커버(40)로 구성되되, 상기 바퀴(20)가 결합된 바퀴 축(30)의 양 끝단이 캐스터 커버(40)의 삽입홈(41)에 삽입되고, 상기 캐스터 커버(40)가 캐스터 브라켓(10) 외측을 감싸도록 끼워지는 동시에 캐스터 커버(40)의 결합돌기(42)와 캐스터 브라켓(10)의 결합홈(21)이 결합되는 것을 특징으로 하는 캐스터 브라켓에 바퀴 조립이 용이한 캐스터를 제공한다.
Patent KR-20160134116-A (KR)
Inventor: CHO HYUN HO
IPC: G09G3/20
Filed: 2015-05-14
Abstract: The present invention relates to a display apparatus which drives a display panel displaying an image and relates to a driving circuit thereof. The present invention includes: a timing controller which provides a control option having a value for compensating pixel data and gradation; and a driving circuit which performs gradation compensation using the control option and the pixel data, and outputs an output voltage having a gradation with more steps than being displayed with the pixel data.
Patent KR-20160136084-A (KR)
Title: Mobile communication terminal and method for receiving valet parking service
Inventor: PARK TAE HYUNG
IPC: G06Q50/30
Filed: 2015-05-19
Abstract: The present invention relates to a mobile communication terminal for receiving a valet parking service and a method thereof. The present invention provides a mobile communication terminal for receiving a valet parking service at a place that a driver selects without limitation of a place and a method thereof. The mobile communication terminal comprises: a memory unit configured to store a parking agent selection condition; an external device connection interface unit configured to receive destination location information and a destination arrival expectation time of a vehicle from a navigation device; a wireless communication unit configured to transmit a selection result for selecting specific parking agent identification information to a valet parking service providing server; an information receiving unit configured to receive whether to agree with valet parking service provision of a specific valet parking agent from a terminal user; and a control unit.
Patent KR-20160142198-A (KR)
Inventor: BAI KEUN HEE
IPC: H01L29/78
Filed: 2015-06-02
Abstract: The present invention provides a semiconductor device having a stressor. The semiconductor device includes a fin active area pattern having a channel area and a source/drain area, a device separator configured to cover the fin active rea pattern, a gate pattern on the channel area, and the stressor on the source/drain area. The upper side of the device separator is lower than the upper side of the channel area and higher than the upper side of the source/drain area. The present invention can prevent electric disconnection by forming insulation fence pattern between adjacent stressors.
Patent KR-20160143192-A (KR)
Inventor: KIM BYUNG JIN
IPC: A63B69/40
Filed: 2015-06-04
Abstract: 본 발명은 마찰력에 의해 야구공을 투척하는 피칭머신에 관한 것으로, 더욱 상세하게는 투척부재의 회전에 의해 야구공이 투척되는 투척공간부의 위치를 X축회전부재 또는 Z축회전부재에 의해 X축 방향이나 Z축 방향으로 회전하도록 함으로써, X축 방향으로 회전시 커브나 변화구의 형태는 물론, Z축 방향으로 회전시 포크볼 등과 같은 포물선을 이루는 다양한 구질로 투척되는 야구공을 통해 훈련의 성과를 높일 수 있는 야구공의 투척각도 조절이 가능한 피칭머신에 관한 것이다. 
이를 위해 본 발명에 따른 야구공의 투척각도 조절이 가능한 피칭머신은 서로 이웃하게 한 쌍으로 설치되는 몸체부와, 야구공이 투척되는 투척공간부가 형성되도록 각각의 상기 몸체부와 회전가능하게 한 쌍으로 설치되며, 회전에 의해 상기 투척공간부로 진입하는 야구공을 타석 방향으로 투척할 수 있도록 구비되는 투척부재와, 상기 몸체부가 X축 또는 Z축 방향 중 적어도 어느 한 방향으로 회전할 수 있도록 상기 몸체부와 회전가능하게 설치되어 상기 투척공간부의 위치를 조절하며, 상기 투척공간부의 조절에 의해 상기 타석 방향으로 투척되는 야구공의 투척위치를 제어하는 회전부 및 상기 투척부재의 회전속도 또는 상기 몸체부를 회전시키는 상기 회전부를 제어하도록 상기 몸체부에 적어도 하나 이상 설치되는 제어부를 포함한다.
Patent KR-20160144040-A (KR)
Inventor: OK YUN SUN
IPC: G06Q50/10
Filed: 2015-06-08
Abstract: 본 발명은 능동형 이모티콘 구현을 위한 스마트단말에 관한 것이다. 본 발명은, 입출력부(11), 저장부(12), 그리고 능동형 이모티컨 모듈(13)을 포함하는 스마트폰에 있어서, 상기 이모티컨 모듈(13)은 사람의 눈, 코, 입, 머리, 얼굴로 형성되는 능동형 이모티콘(AE)의 각 구분요소를 적어도 하나 이상에 대한 사용자의 입출력부(11)로부터의 선택에 따라 구분요소로 생성하여 저장부(12)로 저장하는 구분요소 생성수단(13a); 을 포함하는 것을 특징으로 한다.
Patent KR-20150141155-A (KR)
Inventor: LUO QING BIN
IPC: H02K11/02
Filed: 2015-06-09
Abstract: An electric motor comprises: a stator (45) and a rotator (70). The stator comprises: a motor housing (51) including an opened end unit and an end cover (61) mounted on the opened end unit of the motor housing. The rotator (70) comprises a rotator shaft (71) extended through the end cover. The end cover comprises a bearing (59) to support the rotator shaft. The rotator shaft (71) and the motor housing (51) are manufactured with a conductive material and are electrically connected. The motor housing (51), the end cover (61), the bearing (59), and the rotator shaft (71) cooperate and form an electromagnetic shield capable of suppressing electromagnetic interference formed by the motor. Selectively, the rotator shaft (71) drives a coaxial worm shaft (81) of a gear box (30) by an insulating member. Accordingly, the electromagnetic interference is more suppressed.
Patent KR-20160144770-A (KR)
Title: 블럭제조기
Inventor: KIM GEUN SIK
IPC: B28B3/02
Filed: 2015-06-09
Abstract: 본 발명은 대향 측면에 채널의 핀에 걸쳐 의지할 핀홈을 가진 시멘트계 보도 블럭을 비홈삭(非凹削), 무폐수, 무분진 분위기 하에 능률적으로 생산할 수 있는 블럭제조기를 제공하려는 것으로서, 프레임 상에 고정된 성형틀과, 상기 프레임 상에서 성형틀의 아래 쪽에 설치된 블럭 받침 탑재용 수직승강형 받침대와, 성형틀의 블럭 성형실에 장입된 블럭 원료를 가압 성형한 후 상기 받침대와 동기하여 탈형시킨 후 복귀하는 수직승강형 상틀로 이뤄진 블럭제조기에서, 상기 프레임 상에서 성형틀의 블럭 성형실로 진입하여 보도 블럭의 대향측 측면에 핀홈을 형성시킨 후 복귀하여 순탄하게 탈형되도록 한 핀홈 코어가 설치된 블럭제조기로 달성할 수 있다.
Patent KR-20160146054-A (KR)
Title: Advertising system using lockers in club
Inventor: JOO HYEON
IPC: G06Q30/02
Filed: 2015-06-11
Abstract: The cost of advertising can be minimized and effective advertising technology can be provided by building an advertising system using a locker installed in the club. The advertising system using a locker in a club according to an embodiment of the present invention includes an unmanned locker including at least one storage box installed inside a club; a projector installed on the periphery of the unmanned locker and projecting a hologram advertisement image on the outer surface of the unmanned locker; and a holographic film coated on the outer surface of the unmanned locker and outputting the hologram advertisement image when the hologram advertisement image transmitted from the projector is irradiated to the outer surface of the unmanned locker.
Patent KR-20160146429-A (KR)
Title: Multi turn actuator using ratchet for driving valve
Inventor: HAM KWANG SHIK
IPC: F16K31/122
Filed: 2015-06-12
Abstract: The present invention relates to a multi-rotation actuator using a ratchet. More specifically, fluid is introduced into an inner space through both ends of a cylinder for an actuator, and a disk-shaped cylinder head for an actuator having the same size with a cross-sectional area of the inner space of the cylinder for an actuator is formed in both ends of a rod for an actuator, wherein the rod for an actuator is mounted in the inner space of the cylinder for an actuator in the longitudinal direction of the cylinder for an actuator. Moreover, a connection pin protrudes from an intermediate portion of the rod for an actuator toward a side surface of the road for an actuator, and the connection pin is hinged to an arm. A valve connection rectangular shaft rotating a valve is fastened to the arm, so that the arm is rotated in accordance with the direction of the fluid introduced into the cylinder for an actuator. Therefore, the valve connection rectangular shaft is rotated to control rotation of the valve. As described above, the multi-rotation actuator using a ratchet does not operate the valve through gear-engagement, so that replacement costs caused by damage to a gear is not required, and supplies the fluid to operate the valve, so that operation of the valve is remotely controlled.
Patent KR-20160149550-A (KR)
Inventor: CHANG SE HYUN
IPC: B60W10/20
Filed: 2015-06-18
Abstract: According to the present invention, a method for controlling a steering system output comprises the following steps of: detecting at least one of a driving speed of a vehicle, a steering angle, a steering angular speed, or steering torque; calculating target steering torque with at least one of the driving speed of a vehicle, the steering angle, the steering angular speed, or the steering torque in the case of a normal driving mode in which a driver holds a steering wheel; and determining a motor assist output of the steering system with the calculated target steering torque.