Chinkara Hoi! This is a pretty much meaningless phrase from Doraemon, said when a character uses a magical ability (in a specific instance to flip skirts). In this image, Saten is doing her best to use her meager Ability-user skills to lift Uiharu's skirt. Needless to say, the results are underwhelming. The phrase may be a corrupted version of "chikara hoi" which would mean something like "power ho!"