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Flapping Soft Fin Deformation Modeling using Planar Laser-Induced Fluorescence Imaging

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A bioinspired fish fin webbing for proprioceptive feedback.

Arne Bruns¹, Brooke E Flammang², Gabor Papotti¹

¹Biomimetics Laboratory, Auckland Bioengineering Institute, Auckland, New Zealand.

Bioinspiration & Biomimetics

|December 19, 2024

Summary

This summary is machine-generated.

Researchers developed a novel soft capacitive sensor web for robotic fins, mimicking fish fin function. This bioinspired sensor measures hydrodynamic loads, enhancing underwater robot efficiency and control.

Keywords:

biomimetic fin webbing locomotion robotics soft sensing

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Area of Science:

Bioinspired robotics
Hydrodynamic sensing
Soft robotics

Background:

Ray-finned fish fins provide locomotion and sensory feedback on hydrodynamic forces via nerve cells in webbing.
Robotic underwater systems can benefit from bioinspired sensory feedback for improved efficiency and orientation.
Existing robotic fins lack proprioceptive capabilities to measure hydrodynamic loads.

Purpose of the Study:

To develop a stretch-sensing web for robotic fins capable of measuring hydrodynamic loads.
To create a bioinspired proprioceptive fin webbing for underwater robotic applications.
To advance hydrodynamic sensing for improved autonomous control in fish robots.

Main Methods:

Fabrication of a soft capacitive sensor web embedded in a 350 µm thin film.
Integration of the sensor web between wires emulating fin rays.
Testing sensor performance in water tunnels at various speeds and angles of attack.

Main Results:

The sensor web successfully measured hydrodynamic loads, maintaining performance up to 0.7 m s⁻¹ and 90° angle of attack.
Sensor response was demonstrated as a function of water speed and angle of attack.
Vibrations from vortex shedding and flutter were mitigated using passive stiffeners and membrane tensioning.

Conclusions:

The developed sensor web represents a significant advancement in hydrodynamic sensing for robotic fins.
Understanding sensing membrane behavior in flow enables the development of specialized fin webbing sensors.
This technology is a milestone towards autonomous control loops in fish robots.