Sensing bending in a compliant biomimetic fish

Abstract

This thesis examines the problem of sensing motion in a compliant biomimetic device. Specifically, it will examine the motion of a tail in a biomimetic fish. To date, the fish has been an open-loop system, the motion of the tail only controlled by the input to a servo motor. By sensing the motion of the tail, a closed loop system can be implemented to control the motion. In order to determine the best sensor to use, a number of options were examined. We decided to use foil bend sensors. The silicone used in the prototype was too compliant and therefore the sensors did not bend at a magnitude great enough to provide sufficient information about the bending of the tail. Upon further development and use of the sensors in stiffer silicones, they could be used in a closed loop system.