This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.

Abstract
 1. 서 론
 2. 부상자 구조를 위한 말단 장치 구성 및요구 조건
  2.1 말단 장치의 구성
  2.2 말단 장치의 요구 조건 및 기구 설계
  2.3 말단 장치 전장 설계
 3. 인명구조 말단 장치 제작 및 성능 검증
  3.1 말단 장치 제작
  3.2 말단 장치 성능 검증
 4. 결 론
 References

• 김현중(DGIST Convergence Research Institute, Daegu) | Hyeonjung Kim
• 이익호(DGIST Convergence Research Institute, Daegu) | Ikho Lee
• 안진웅(GIST Convergence Research Institute, Daegu) | Jinung An Corresponding author