• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1300-1305
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• 2009

The various electromagnetic based actuation(EMA) methods have been proposed for actuating microrobot. The advantage of EMA is that it can provide wireless driving to microrobot. In this reason a lot of researchers have been focusing on the EMA driven microrobot. This paper proposed a swimming microrobot driven by external alternating magnet field which is generated by two pairs of Helmholtz coils. The microrobot has a fish-like shape and consists of a buoyant robot body, a permanent magnet, and a fin. The fin is directly linked to the permanent magnet and the magnet is swung by the alternating magnet field, which makes the propulsion and steering power of the robot. In this paper, firstly, we designed the locomotive mechanism of the microrobot boy EMA. Secondly, we set up the control system. Finally, we demonstrated the swimming robot and evaluated the performance of the microrobot by the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2072-2077
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• 2003

Animal-like robots are serving an important role as a linkage between biology and engineering. So, in this paper, we aim to develop a biomimetic microrobot that mimics the locomotion mechanism of a gastropod. This microrobot has 3 DOF (x, y translation and rotation), and has small size, unlimited traveling range, high resolution and low cost. Its movement can be made using propagation wave that is generated by the controllable sinusoidal voltage source and piezoelectric effects. This soft motion that can be generated by propagation wave and piezoelectric mechanism would be useful for the motion on the slippery surface. So we modeled the propagation wave mechanism including piezoelectric effect and friction on the contact surface, and could know the velocity of the microrobot is dependent on the driving frequency, input voltage peak, propagation wavelength and surface friction coefficient. With these results we design the microrobot, and accomplish its fabrication and experimentation. The development of this microrobot shall be aimed to design an autonomous moving actuator like animal. Also it can be used from micromanipulation system technology to biology and medicine.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.424-424
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• 2000

The implementation of a insect-based flying microrobot has been previously proposed as using magnetic force. The flying principle of a butterfly is different from that of a airplane, which obtain lifting force above the wings by a air stream with low pressure. Butterflies obtain lifting force below the wings by flapping. They can fly when drag during the down stroke is greater that during the up stroke. The structure of flying microrobot must satisfy these condition. And that must be manufacture lightly and keep balance for rising to the air sufficiently. Moreover the efficiency of an electromagnet is high and the flux density is sustained uniformly and widely Nevertheless these condition is satisfied, the implementation of a flying microrobot is very difficult as the flying microrobot has to fly without guides or sensor. We propose differently a new model il] comparison with that other paper has suggested. This imitates the form of the Korean shield-shaped kite.

• Journal of Magnetics
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• v.21 no.4
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• pp.616-621
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• 2016

This paper presents a new multifunctional active guidewire system for medical applications that uses a magnetic microrobot. The study demonstrated that the proposed microrobot system could swim and be controlled under Low-Reynolds-number (Re) environments in blood vessel models. The prototype of the robotic guidewire, which is driven within a three-axis Helmholtz coil system, consists of a guide-wire, spiral blade, drilling tip, and permanent magnet. The spiral-type microrobot showed stable active locomotion between 3 kA/m and 9.1 kA/m under driving frequency up to 70 Hz in a silicone oil (of viscosity 1000 cst). The microrobot produced a maximum moving velocity of $8.08{\times}10^{-3}m/s$ at 70 Hz and 9.1 kA/m. In particular, the robotic guidewire produced 3D locomotion with drilling in the three-axis Helmholtz coil system. We verified active locomotion, towing of guidewire, steering, and drilling of the proposed robotic guidewire system through experimental analyses.

• Journal of the Korean Society of Visualization
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• v.16 no.2
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• pp.53-58
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• 2018

This paper presents an electromagnetically driven microrobot for the enhancement of mixing performance in high viscous liquid media such as blood and bone marrow. First, an electromagnetic system was fabricated, and the magnetic flux density generated from the system was compared with the theoretical value. Second, the reciprocating motion of the microrobot was demonstrated in microchannel using electromagnetic system. As a proof of concept, the mixing performance by the electromagnetically driven microrobot in high viscous liquid was investigated using safranin solution. As a result, it was completely mixed within 140 s with the reciprocating motion of the microrobot while it took 1680 s for natural diffusion. In addition, the mixing efficiency was quantitatively evaluated through a mixing index obtained by an image analysis. The proposed method provides not only wireless actuation of a microrobot with a simple design but also high mixing performance in variety of high viscous liquid media.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.64.3-64
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• 2002

$\textbullet$ Introduction to 3-Dimensional Nanorobotic Manipulation System $\textbullet$ Concept Design and Operating Principle $\textbullet$ Analytic Model for target System $\textbullet$ Fabrication and Experimental Setup of 3-DOF Mobile Microrobot $\textbullet$ Experimental Works or 3-DOF Mobile Microrobot

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.62-67
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• 2009

For diagnoses of digestive organs, capsule endoscopes are widely used and offer valuable information without patient's discomfort. A general capsule endoscope which consists of image sensing module, telemetry module and battery is able to move along gastro-intestinal tracts passively only through peristaltic waves. Thus, it is likely to have some limitations for doctor to acquire images from the desired organs and to diagnose them effectively. As solutions to these problems, a locomotive function of capsule endoscopes has being developed. We have proposed a capsule-type microrobot with synchronized multiple legs. However, the proposed capsular microrobot also has some limitations, such as low speed in advancement, inconvenience to controlling the microrobot, lack of an image module, and deficiency in a steering module. In this paper, we will describe the limitations of the locomotive microrobot and propose solutions to the drawbacks. The solutions are applied to the capsular microrobot and evaluated by in-vitro tests. Based on the experimental results, we conclude that the proposed solutions are effective and appropriate for the locomotive microrobot to explore inside intestinal tracts.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.73-74
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• 2010

• Journal of Mechanical Science and Technology
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• v.20 no.7
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• pp.1012-1018
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• 2006

Diagnosis and treatment using the conventional flexible endoscope in gastro-intestinal tract are very common since advanced and instrumented endoscopes allow diagnosis and treatment by introducing the human body through natural orifices. However, the operation of endoscope is very labor intensive work and gives patients some pains. As an alternative, therefore, the capsule endoscope is developed for the diagnosis of digestive organs. Although the capsule endoscope has conveniences for diagnosis, it is passively moved by the peristaltic waves of gastro-intestinal tract and thus has some limitations for doctor to get the image of the organ and to diagnose more thoroughly. As a solution of these problems, various locomotive mechanisms for capsule endoscopes are introduced. In our proposed mechanism, the capsule-type microrobot has synchronized multiple legs that are actuated by a linear actuator and two mobile cylinders inside of the capsule. For the feasibility test of the proposed microrobot, a series of in-vitro experiments using small intestine without incision were carried out. From the experimental results, our proposed microrobot can advance along the 3D curved and sloped path with the velocity of about $3.29\sim6.26mm/sec$ and $35.1\sim66.7%$ of theoretical velocity. Finally, the proposed locomotive mechanism can be not only applicable to micro capsule endoscopes but also effective to advance inside of gastro-intestinal tract.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1573-1578
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• 2011

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in threedimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.