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The mechanics of active fin-shape control in ray-finned fishes
We study the mechanical properties of fin rays, which are a fundamental component of fish fin structure. We derive a linear elasticity model that predicts the shape of fin rays, given the inputExpand
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Fish biorobotics: kinematics and hydrodynamics of self-propulsion
TLDR
Using aquatic propulsion in fishes as our focal example, how using robotic models can lead to new insights in the study of aquatic propulsion. Expand
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Bioinspiration from fish for smart material design and function
Fish are a potentially rich source of inspiration for the design of smart materials. Fish exemplify the use of flexible materials to generate forces during locomotion, and a hallmark of fishExpand
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Development and modeling of conducting polymer actuators and the fabrication of a conducting polymer based feedback loop
Conducting polymers as a class of materials can be used to build a diverse range of devices. Conducting polymer based actuators (muscles), transistors (neurons), strain gages (muscle spindles), forceExpand
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The effect of fin ray flexural rigidity on the propulsive forces generated by a biorobotic fish pectoral fin
SUMMARY A biorobotic pectoral fin was developed and used to study how the flexural rigidities of fin rays within a highly deformable fish fin affect the fin's propulsive forces. The design of theExpand
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Locomotion with flexible propulsors: I. Experimental analysis of pectoral fin swimming in sunfish.
A full understanding of the mechanics of locomotion can be achieved by incorporating descriptions of (1) three-dimensional kinematics of propulsor movement, (2) material properties of the propulsor,Expand
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Learning from fish: Kinematics and experimental hydrodynamics for roboticists
TLDR
We present 16 results from recent experimental research on the mechanics, kinematics, fluid dynamics, and control of fish locomotion that summarize recent work on fish biomechanics. Expand
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Conducting polymer actuators as engineering materials
Conducting polymer actuators were first proposed more than ten years ago. Reported performance has improved dramatically, particularly in the past few years, due to changes in synthesis methods,Expand
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Locomotion with flexible propulsors: II. Computational modeling of pectoral fin swimming in sunfish.
This paper describes a computational fluid dynamics (CFD) based investigation of the pectoral fin hydrodynamics of a bluegill sunfish. The pectoral fin of this fish undergoes significant shape-changeExpand
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Polypyrrole actuators: modeling and performance
Conducting polymer actuators generate forces that exceed those of mammalian skeletal muscle by up to two orders of magnitude for a given cross-sectional area, require only a few volts to operate, andExpand
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