Generating thrust with a biologically-inspired robotic ribbon fin

We present experimental results of thrust produced by a robotic propulsor, the design of which is inspired by the ribbon fin of the South American black ghost knifefish (Apteronottis athifrons). This remarkably nimble fish moves by oscillating its ribbon fin rays out of phase and thereby passing a traveling wave along the fin's length. Combinations of thrust from the ribbon fin and body rolls produced by the two pectoral fins enable the black ghost to swim in nearly any direction without bending its body. The fish's agile locomotor system is tightly integrated with its omnidirectional, active sensing system. The robotic ribbon fin has eight individually actuated metal rays which are linked by a thin latex sheet. The experimental results demonstrate the effect of varying the propulsive wave's frequency, amplitude and length on the robotic fin's thrust production. We found that thrust production peaks at particular combinations of the three variables and that the fin could produce steady forward thrust, despite the relatively small number of rays. The robotic ribbon fin has potential application as a propulsor for future underwater vehicles, in addition to being a valuable scientific instrument in understanding the swimming mechanics of the black ghost and similar fish.