Myometry-driven compliant-body design for underwater propulsion

Within the broader scope of underwater biomimetics, in this paper we address the relevance of factors such as shape and elasticity distribution in the ability of a compliant device to imitate the kinematic behaviour of a fish. We assess the viability of myometry as a tool to determine candidate mechanical parameters without relying solely on analytical models; we show that we can obtain elasticity distributions that are both consistent with previous theoretical investigations and experimentally better adherent to the passive kinematics of a biological embodiment (rainbow trout).