Fig. 1: Design of bio-inspired skin-scales system.
From: Bio-inspired rigid-flexible coupled skin-scales system for enhanced protection in soft robotic fish
a Fish structure and the construction of the skin-scales system. The skin-scales system in fish typically consists of scales, epidermis, and dermis. This system covers the muscle and provides protection to the fish. b Fish scale’s shape and bionic designed scale (see Supplementary Fig. S2 for the detailed dimensions). c The coupling methodology of bio-inspired skin-scales system with/without pre-drilled holes. d The bio-inspired (BI) design in robotic fish. It includes a BI tendon inspired by muscle to drive the robotic fish, BI scales inspired by both the arrangement and shapes of natural fish scales, and BI skin inspired by the functional properties of epidermis and dermis in fish.
