Undulatory Swimming Performance Explored With a Biorobotic Fish and Measured by Soft Sensors and Particle Image Velocimetry

Due to the difficulty of manipulating muscle activation in live, freely swimming fish, a thorough examination of the body kinematics, propulsive performance, and muscle activity patterns in fish during undulatory swimming motion has not been conducted. We propose to use soft robotic model animals as experimental platforms to address biomechanics questions and acquire understanding into subcarangiform fish swimming behavior. We extend previous research on a bio-inspired soft robotic fish equipped with two pneumatic actuators and soft strain sensors to investigate swimming performance in undulation frequencies between 0.3 and 0.7 Hz and flow rates ranging from 0 to 20 cms in a recirculating flow tank. We demonstrate the potential of eutectic gallium–indium (eGaIn) sensors to measure the lateral deflection of a robotic fish in real time, a controller that is able to keep a constant undulatory amplitude in varying flow conditions, as well as using Particle Image Velocimetry (PIV) to characterizing swimming performance across a range of flow speeds and give a qualitative measurement of thrust force exerted by the physical platform without the need of externally attached force sensors. A detailed wake structure was then analyzed with Dynamic Mode Decomposition (DMD) to highlight different wave modes present in the robot’s swimming motion and provide insights into the efficiency of the robotic swimmer. In the future, we anticipate 3D-PIV with DMD serving as a global framework for comparing the performance of diverse bio-inspired swimming robots against a variety of swimming animals.

Convergence of undulatory swimming kinematics across a diversity of fishes

Fishes exhibit an astounding diversity of locomotor behaviors from classic swimming with their body and fins to jumping, flying, walking, and burrowing. Fishes that use their body and caudal fin (BCF) during undulatory swimming have been traditionally divided into modes based on the length of the propulsive body wave and the ratio of head:tail oscillation amplitude: anguilliform, subcarangiform, carangiform, and thunniform. This classification was first proposed based on key morphological traits, such as body stiffness and elongation, to group fishes based on their expected swimming mechanics. Here, we present a comparative study of 44 diverse species quantifying the kinematics and morphology of BCF-swimming fishes. Our results reveal that most species we studied share similar oscillation amplitude during steady locomotion that can be modeled using a second-degree order polynomial. The length of the propulsive body wave was shorter for species classified as anguilliform and longer for those classified as thunniform, although substantial variability existed both within and among species. Moreover, there was no decrease in head:tail amplitude from the anguilliform to thunniform mode of locomotion as we expected from the traditional classification. While the expected swimming modes correlated with morphological traits, they did not accurately represent the kinematics of BCF locomotion. These results indicate that even fish species differing as substantially in morphology as tuna and eel exhibit statistically similar two-dimensional midline kinematics and point toward unifying locomotor hydrodynamic mechanisms that can serve as the basis for understanding aquatic locomotion and controlling biomimetic aquatic robots.

Fishes regulate tail-beat kinematics to minimize speed-specific cost of transport

Energetic expenditure is an important factor in animal locomotion. Here we test the hypothesis that fishes control tail-beat kinematics to optimize energetic expenditure during undulatory swimming. We focus on two energetic indices used in swimming hydrodynamics, cost of transport and Froude efficiency. To rule out one index in favour of another, we use computational-fluid dynamics models to compare experimentally observed fish kinematics with predicted performance landscapes and identify energy-optimized kinematics for a carangiform swimmer, an anguilliform swimmer and larval fishes. By locating the areas in the predicted performance landscapes that are occupied by actual fishes, we found that fishes use combinations of tail-beat frequency and amplitude that minimize cost of transport. This energy-optimizing strategy also explains why fishes increase frequency rather than amplitude to swim faster, and why fishes swim within a narrow range of Strouhal numbers. By quantifying how undulatory-wave kinematics affect thrust, drag, and power, we explain why amplitude and frequency are not equivalent in speed control, and why Froude efficiency is not a reliable energetic indicator. These insights may inspire future research in aquatic organisms and bioinspired robotics using undulatory propulsion.

Biorobotic insights into neuromechanical coordination of undulatory swimming

Skin sensors on an eel-like robot couple external hydrodynamic pressure with internal neural patterns for robust swimming.

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive receptors that provide information about the surrounding fluid. However, it remains difficult to study experimentally how these sensors influence motor commands in these animals. Here, using a specifically designed robot that captures the essential components of the animal neuromechanical system and using simulations, we tested the hypothesis that sensed hydrodynamic pressure forces can entrain body actuation through local feedback loops. We found evidence that this peripheral mechanism leads to self-organized undulatory swimming by providing intersegmental coordination and body oscillations. Swimming can be redundantly induced by central mechanisms, and we show that, therefore, a combination of both central and peripheral mechanisms offers a higher robustness against neural disruptions than any of them alone, which potentially explains how some vertebrates retain locomotor capabilities after spinal cord lesions. These results broaden our understanding of animal locomotion and expand our knowledge for the design of robust and modular robots that physically interact with the environment.

Post-Eccentric Flywheel Underwater Undulatory Swimming Potentiation in Competitive Swimmers

Underwater undulatory swimming (UUS) influences overall swimming performance, therefore swimmers should try to maximize it. This research aimed to: 1) assess the effects of an activation protocol based on post-activation performance enhancements upon UUS; and 2) evaluate the differences between males and females. Seventeen competitive swimmers (male = 10; female = 7) participated in a cross-sectional study designed to test performance in UUS at 10 m after a traditional swimming warm-up (TRA) and after adding to the TRA 4 maximal half-squat repetitions on an inertial flywheel device (PAPE). A speedometer and an electronic timing system were used to obtain kinematic variables such as time, frequency and velocity at 10-m, which were processed with MATLAB®. A paired sample t test was applied to determine the differences of the kinematic variables between the TRA and PAPE. An independent sample t test was used to determine the effects of the PAPE in males and females. Participants reduced the time to cover 10 m after PAPE compared to the TRA (males: 5.77 ± 0.44 to 5.64 ± 0.46; females 6.34 ± 0.80 to 6.09 ± 0.66; p < 0.05). In addition, trends towards improvements in UUS velocity were obtained for males and females. However, push-off velocity and frequency showed a different tendency between genders (p < 0.05). In conclusion, the warm-up including repetitions on the flywheel device improved UUS performance. Some differences were obtained between genders after PAPE. Further research should confirm if the benefits obtained after the eccentric overload would depend either on gender or on other components such as fiber type composition.

Numerical investigation of hydrodynamic characteristics of fish-like undulation using the adaptive dynamic-grid method

To investigate the hydrodynamics of undulatory swimming, a key issue in numerical analysis is to determine the correlation between undulatory locomotion and the flow characteristics. In this study, a novel dynamic-grid generation method, the adaptive control method, is implemented to deal with the moving and morphing boundaries in an unsteady flow field at all Reynolds numbers. This method, based on structured grids, can ensure the orthogonality and absolute controllability of the grids and is performed to precisely simulate the wake and the boundary layer. The NACA0010 wing is employed as a two-dimensional (2D) body model of a fish in the simulations. To maintain the calculation stability, the increase stage of the amplitude is defined as a smooth transitional stage. Analysis of hydrodynamic coefficients reveals that undulation results in a significant increase of frictional force in laminar flow [Formula: see text]. However, the undulation also results in a reduction of the frictional force when the fish swims in turbulent flow [Formula: see text]. The vorticity distribution and the [Formula: see text]-criterion are both used to accurately capture the shedding vortexes in the wake. Furthermore, these vortex pairs have a substantial impact on the turbulence and the wake, in which the turbulent kinetic energy and the turbulent viscosity ratio both decrease at [Formula: see text]. The wake of an undulatory fish presents different vortex patterns with various kinematic parameters. When the phase velocity is greater than the incoming velocity and the wave number is sufficiently large, thrust is yielded, accompanying the distinct reverse Karman Street in the wake.