Bioinspired Aquatic Propulsion Mechanisms with Real-Time Variable Apparent Stiffness Fins

We aimed to develop the aquatic propulsion mechanisms of Paramecium like and fish like robots that consist of real-time variable stiffness fins. For the aquatic propulsion mechanisms of the Paramecium like robot, we have used fins with ICPF (Ionic Conducting Polymer gel Film) actuator to change its stiffness for representing ciliary movement. For the aquatic propulsion mechanisms of the fish like robot, we have used a fin with variable effective length spring which changes its apparent bending stiffness. We discussed the movement of the real-time variable stiffness fins and thrust force characteristics of the propulsion mechanisms in fluid.