Variable stiffness fin for propulsion in fluid

Ciliary movement has an advantage for propulsion if the body is covered by many cilia such as in the case of a paramecium; the body is able to rotate in situ and change its direction io propel jtself M small spaces. Thus, we made the enlarged propulsion mechanism in fluid modeled on ciliary movement equipped with a motor OR its base and two types of the variable stiffness fins that realize the effective stroke and recovery stroke of ciliary movement. We discussed the movement of the variable stiffness fin and thrust force Characteristics of the enlarged propulsion mechanism in fluid.