Jeff C. Kahn

Distributed sensing and nonlinear MISO models for predicting the propulsive forces of flexible, multi-DOF robotic fins

Fish are capable of producing a wide repertoire of 3D propulsive forces using their fins, and have inspired the development of compliant, multiple-DOF, robotic fins with similar capabilities. Most of these robotic fins are under open-loop control on propulsive force because the forces are challengin