Table 4.

Specifications of the new soft robotic fish.

Item	Specification
Caudal peduncle height (m)	0.003
Caudal fin height (m)	0.02
Radius of head weight (m)	0.007
Maximum body height (m)	0.064
Type of actuator	MFC 8528P1 × 2
Actuator dimensions (m)	0.103 × 0.035
Actuator active area (m)	0.085 × 0.028
Actuator for adhering	CFRP
Entire body length (m)	0.175
Adhesion bond	Epoxy 3M-DP460
Weight (kg)	0.0141