用颗粒堵塞技术让仿鱼机器人快速调刚度，提升不同速度下的游泳效率。
A Novel Bio-Inspired Fish Robot with Tunable Stiffness via Particle Jamming
- 通过颗粒堵塞实现刚度快速调节，体积形状几乎不变。
- 刚度变化达54%，低频时软体速度最快、能耗最低，高频时硬体表现更优。
- 适合研究自适应水下推进或可变刚度机器人的工程团队。
鱼类通过主动调节身体柔韧性在不同速度下实现高效游泳。为探究可调刚度对游泳性能的影响，本文提出一种自由游动的仿生鱼机器人，其身体采用颗粒堵塞技术实现快速刚度调控。该设计可在真空压力0至-40 kPa范围内实现54%的弯曲刚度变化，且形状与体积几乎不变。通过运动追踪系统测量了不同刚度条件下的体中线振荡形态与游泳速度、运输成本（CoT）。结果表明，在1–3 Hz摆动频率范围内，主动调节刚度对维持高效高速游泳至关重要：在低频（1–1.5 Hz）时，软体（0 kPa）达到最大速度并最小化CoT；在高频（2.5–3 Hz）时，硬体（-40 kPa）则表现更优。这些发现凸显刚度调节是仿生机器人实现自适应高效推进的关键策略。
原文摘要 · Abstract (English)
Fish achieve efficient swimming across varied speeds through active modulation of their body flexibility. To explore the effects of tunable stiffness on swimming performance, we present a bio-inspired freely swimming fish robot with a rapidly tunable particle-jamming body. This design enables rapid stiffness adjustments with negligible changes in shape or volume, achieving a 54% variation in flexural rigidity across vacuum pressures of 0 to -40 kPa. We visualize the midline of the oscillating body under both low- and high-stiffness conditions, and the comparison confirms that the body curvature varies with stiffness. We further experimentally evaluate the tunable stiffness body's effects on swimming performance using velocity and cost of transport (CoT) measurements obtained via a motion tracking system. Results show that active stiffness tuning is essential for sustaining efficient and high-speed swimming across beating frequencies of 1-3 Hz. At low frequencies (1-1.5 Hz), a softer body (0 kPa) maximizes velocity and minimizes CoT, whereas at high frequencies (2.5-3 Hz), a stiffer body (-40 kPa) delivers superior velocity and reduced transport cost. These findings highlight stiffness modulation as a key strategy for adaptive and efficient propulsion in bio-inspired robotic swimmers.
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