2. Project Goals Prove feasibility of hydraulic McKibben muscles Build a fully submersible robotic platform Execute realistic fish motion with a fish-like appearance

3. Background: What’s a McKibben Muscle? A fluid-powered muscle Braided sheath and soft rubber tubing Imagine inflating a “Chinese finger-trap.” Pressurized Fluid

4. Why are they Important? Seen as a stakeholder in several technologies: Human prosthetics – Smoother motion – Biomimetic Soft robotics Ideal actuators for underwater applications – Can use surrounding fluid

5. Formal Design Process System Level Design Problem Definition and Planning Subsystem Level Design Detailed Design Build, Test, and Integrate Final Product Literature review and MATLAB motion simulations aided design decisions Advanced planning allowed for optimized layout for buoyancy and C.O.G. Preliminary testing made for efficient system integration

6. Design Features Watertight acrylic enclosure Fluid system – Internal centrifugal pump – Solenoid valve bank – Hydraulic McKibben muscles Controls – Arduino, batteries, necessary circuitry – Water resistant electronic compartment with temperature monitoring – Bluetooth-controlled through smartphone app Motion parameters from literature – Body-caudal type locomotion – Phase delays captured in solenoid timing Appearance – Composite fiberglass shell with realistic paint-job – Rubberized Spandex/Lycra fabric as tail skin

7. Results Video 1

8. Results Video 2

9. Results Video 3

10. Results Very realistic, successful, and inexpensive prototype Formal design process greatly aided in meeting deadlines, including ImagineRIT Went beyond customer requirements with addition of Bluetooth communication Proves the feasibility of using McKibben muscles autonomously and hydraulically For more information: – Project website, http://edge.rit.edu/edge/P14029/public/Homehttp://edge.rit.edu/edge/P14029/public/Home – Search YouTube for “RIT Robotic Fish” – Final project paper available during the poster session

11. Acknowledgements This project would not have been possible without help and guidance from many individuals. Special thanks to: Dr. Kathleen Lamkin-Kennard Rick Lux Dave Hathaway, Rob Kraynik, and the ME Machine Shop Kwadwo Opong Mensah John Bonzo and the Brinkman Lab

12. References [1] [2] …