Fish locomotion is characterized by waves of muscle electrical activity that proceed from head to tail, and result in an undulatory pattern of body bending that generates thrust during locomotion. Isolating the effects of parameters like body stiffness, co-activation between the right and left sides of the body, and frequency on thrust generation has proven to be difficult in live fishes. We use a pneumatically-actuated fish-like model to investigate how these parameters affect locomotor force generation. We measure thrust as well as side forces and torques generated during propulsion. Using a statistical linear model we examine the effects of input parameter combinations on thrust generation. We show that both stiffness and frequency substantially affect swimming kinematics, and that there are complex interactive effects of these two parameters on thrust. The stiffer the backbone the more impact that increasing frequency has on thrust production. For stiffer models, increasing ...

中文翻译：

---

使用气动软机器人模型研究鱼状水生推进力。

鱼运动的特征是从头到尾进行的肌肉电活动波，并导致身体弯曲的波动模式，在运动过程中产生推力。在活鱼中，很难隔离诸如身体刚度，身体左右两侧之间的共同激活以及推力产生频率等参数的影响。我们使用气动鱼样模型来研究这些参数如何影响运动力的产生。我们测量推进过程中产生的推力以及侧向力和扭矩。使用统计线性模型，我们检查了输入参数组合对推力产生的影响。我们表明，刚度和频率都会显着影响游泳运动学，并且这两个参数对推力有复杂的交互作用。骨架越僵硬，频率增加对推力产生的影响越大。对于较硬的模型，增加...