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Pectoral fins play an important role in the fish swimming performance, especially in maneuverability underwater. This paper presents the swimming propulsion by means of a flexible and lightweight pectoral fin inspired by a Koi Carp. The fin is driven by embedded shape memory alloy (SMA) wires. In this paper, the kinematics of a pectoral fin from a live Koi Carp fish is first studied. The motion of...
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