Fish are capable of remarkable locomotor performance and use their fins extensively for both propulsion and
maneuvering. Recent interest in using fishes as inspiration for the design of a new generation of autonomous underwater
vehicles has prompted both new experimental studies of fish locomotor function and efforts to use electroactive
polymers (EAP) as actuators in fish-inspired propulsive devices. The fins of fishes allow precise control over body
position and vectoring of thrust during propulsion and maneuvering. Recent experimental studies of fish locomotion
have revealed that fins exhibit much greater flexibility than previously suspected and that there is considerable
deformation of the fin surface during locomotion. The fins of the large group known as ray-finned fishes are supported
by fin rays, which have a bilaminar structure that allows active curvature control of the ray and fin surface by the fin
musculature. Fish have up to seven different fins, and these fins may interact with each other hydrodynamically during
locomotion. Fish fins provide an excellent test platform for the use of electroactive polymer actuators as the frequency
of movement is typically less than 5 Hz, and fin muscle strains typically range from 2 to 10%. Recent developments of
biorobotic fish pectoral fins actuated with EAP are reviewed.
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