2.3. Swimming Device

2.3.1. Assembly of the Device

The device was fabricated based on the aforementioned test results. The main body of the device was composed of a bistable metal strip with a pivot point going through the strip perpendicularly. Nitinol wires were connected at both tips of the metal strip against the pivot to set the angle required for triggering and resetting. A wireless control system was designed and assembled as shown in Figure 10(a). To increase the propelling ability, polydimethylsiloxane (PDMS) sheets with rigid plastic (3M PP2950 film) strips embedded were fabricated, which were inspired by fish fins. A lithium ion polymer battery was used as a portable power source.