SoFi system overview. SoFi system overview. (Top, left to right) Soft robotic fish and diver interface module. (Bottom, left to right) Subcomponents of.

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SoFi system overview. SoFi system overview. (Top, left to right) Soft robotic fish and diver interface module. (Bottom, left to right) Subcomponents of the system are the elastomer tail (cut view), external gear pump, BCU, two dive planes, control electronics including acoustic receiver, and fisheye camera. Robert K. Katzschmann et al. Sci. Robotics 2018;3:eaar3449 Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works