Kyoungrae Cha

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Among the various kinds of actuations for biomimetic robots, the electromagnetic actuation (EMA) method has been regarded as the one with the most potential. This paper proposes a jellyfish-like swimming mini-robot actuated by an EMA system in three-dimensional (3D) space. The jellyfish-like mini-robot has four flexible fins, each of which is equipped with(More)
We propose a new electromagnetic actuation (EMA) system for an intravascular microrobot with steering, locomotion and drilling functions. The EMA system consists of 3 pairs of Helmholtz coil and 1 pair of Maxwell coil. Generally, Helmholtz coils can align a microrobot in a desired direction by generating a uniform magnetic flux. If the uniform magnetic(More)
Recently, coronary artery disease such as angina pectoris and myocardial infarction has become the major causes of death. As a method of medical treatment for the disease, the pharmacological approaches and the surgical operations are executed. Especially, percutaneous coronary intervention (PCI) using catheters are the mostly preferred treatment for(More)
Various electromagnetic based actuation (EMA) methods have been proposed for the actuation of micr-orobots. The advantage of EMA is that it can generate a wireless driving force for the microrobot, and this is the reason why many researchers have focused on the EMA driven microrobot. This paper proposes a swimming microrobot driven by an external(More)
Two-dimensional electromagnetic actuation system (EMA) was developed to manipulate microrobot for the intravascular therapy. This system consists of two pairs of Helmholtz coils and Maxwell coils and a cylindrical type permanent magnet is used as a microrobot. It is verified that the microrobot can move without power line using electromagnetic field. We(More)
Heart diseases such as angina pectoris and myocardial infarction have been becoming the leading causes of death all over the world in recent years. The pharmacotherapy and the surgical operations have been executed for treating heart problems. The percutaneous coronary intervention (PCI) with catheter is frequently used for the treatment of coronary artery(More)
The purpose of this paper is the positioning control of the microrobot in a pulsating flow using electromagnetic actuation (EMA) System. Several types of EMA systems which are 2-dimensional and 3-dimensional locomotion control of microrobot were proposed and studied. Generally, these conventional researches of EMA systems showed the results of locomotion of(More)
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