Figure 2.

Overview of acceleration analysis with the Tunabot Flex system. (a) Experimental set-up with the suspended robot in a water tank seeded with particles, two laser sheets for PIV (b) and a high-speed camera to record the movements of the robot and the fluid. In parallel, detailed electrical power measurements are obtained throughout the acceleration (c). High-speed video recordings are used to extract kinematics (d) as well as velocity fields (e), which are in turn used to compute pressure fields and interaction forces (f). (Online version in colour.)