Figure 9.
Upward force generated by the robotic knifefish as a function of frequency. (a) Force generated as a function of frequency for: inward counter propagating waves (blue), outward waves (red), unidirectional waves (black) and standing waves (green). (b) Force generated along with vertical bars to show the standard deviation. The inset shows the force versus time for inwards waves at f = 3 Hz. The grey horizontal line of the inset is the mean force. The ribbon fin was actuated with θmax = 35° and two full wavelengths along the fin.