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Swimming Performance Assessment in Fishes
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How fish body stiffness distribution affects swimming performance: a theoretical perspective.

Xiaobo Zhang1, Zhongcai Pei1, Zhiyong Tang1

  • 1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, People's Republic of China.

Bioinspiration & Biomimetics
|March 4, 2026
PubMed
Summary

Fish stiffness significantly impacts swimming. A rapidly decreasing stiffness from head to tail, with a low minimum-to-maximum stiffness ratio, optimizes fish locomotion performance, guiding robotic fish design.

Keywords:
robotic designstiffness distributionswimming performance

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Area of Science:

  • Biomechanics
  • Robotics
  • Hydrodynamics

Background:

  • Fish swimming locomotion is significantly influenced by body stiffness.
  • Biological studies reveal heterogeneous stiffness across fish body segments.
  • Stiffness generally decreases from anterior to posterior in fish.

Purpose of the Study:

  • To develop an analytical model integrating fish body stiffness distribution into locomotion analysis.
  • To investigate the effects of various stiffness distribution patterns on swimming performance.
  • To provide foundational insights for designing variable-stiffness robotic fish.

Main Methods:

  • Discretization of the resistive drag model.
  • Incorporation of active bending moment distribution functions.
  • Development of an analytical model for fish locomotion incorporating stiffness distribution.

Main Results:

  • A rapidly decreasing stiffness distribution enhances swimming performance.
  • A low ratio of minimum-to-maximum stiffness is optimal for locomotion.
  • Investigated effects of different segment quantities and decreasing distribution patterns.

Conclusions:

  • Stiffness distribution is a critical factor in efficient fish swimming.
  • The developed model supplements biological experiments and informs robotic fish design.
  • Optimal stiffness patterns can guide the development of advanced robotic swimmers.