Biorobotic fins for investigations of fish locomotion

Experimental analyses of propulsion in freely-swimming fishes have led to the development of self-propelling pectoral and caudal fin robotic devices. These biorobotic models have been used in conjunction with biological and numerical studies to investigate the effects of the fin's kinematic patterns and structural properties on forces and flows. Data from both biorobotic fins will be presented and discussed in terms of the utility of using robotic models for understanding fish locomotor dynamics. Through the use of the robotic fins, it was shown that subtle changes to the kinematics and/or the mechanical properties of fin rays can impact significantly the magnitude, direction, and time course of the 3d forces used in propulsion and maneuvers.