{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:21:33Z","timestamp":1766067693826,"version":"build-2065373602"},"reference-count":61,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2023,1,27]],"date-time":"2023-01-27T00:00:00Z","timestamp":1674777600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100014188","name":"Ministry of Science and ICT, South Korea","doi-asserted-by":"publisher","award":["NRF-2019R1A2C2084677"],"award-info":[{"award-number":["NRF-2019R1A2C2084677"]}],"id":[{"id":"10.13039\/501100014188","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2023,5]]},"abstract":"<jats:sec><jats:label\/><jats:p>Stiffness of a swimming appendage is the key mediator between thrust generated and its beating frequency. Due to the advantageous role of flexible propulsors, they are widely adopted in previous swimming robots. As an optimal propulsor, stiffness is highly dependent on its beating frequency, and stiffness modulation is crucial when a robot is swimming with multiple beating frequencies. Herein, a novel swimming paddle that can switch two different stiffness states by sliding a laminate inside and its application to a swimming robot is studied. This paddle has 8 articulated joints and 20 passive flaps to achieve drag asymmetry with minimum control effort. A semiempirical model to estimate the stiffness change in good accuracy is also studied. The thrust modulation caused by stiffness change is comprehensively studied by varying frequency and range of motion. In addition, a nontethered swimming robot propelled by a bilateral pair of paddles is developed to investigate when and how the stiffness adjustment is useful. There is a threshold frequency dividing two regimes where one stiffness excels the other stiffness with respect to cost of transport. Finally, it is shown that the paddle thickness is closely related to the necessity of stiffness change mechanism.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200348","type":"journal-article","created":{"date-parts":[[2023,1,27]],"date-time":"2023-01-27T23:29:46Z","timestamp":1674862186000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Development of a Stiffness\u2010Adjustable Articulated Paddle and its Application to a Swimming Robot"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9006-9789","authenticated-orcid":false,"given":"Bokeon","family":"Kwak","sequence":"first","affiliation":[{"name":"Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST  Ulsan 44919 Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6962-9144","authenticated-orcid":false,"given":"Soyoung","family":"Choi","sequence":"additional","affiliation":[{"name":"Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST  Ulsan 44919 Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7030-2184","authenticated-orcid":false,"given":"Joonbum","family":"Bae","sequence":"additional","affiliation":[{"name":"Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST  Ulsan 44919 Korea"}]}],"member":"311","published-online":{"date-parts":[[2023,1,27]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms4293"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1017\/jfm.2021.494"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3073690"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1017\/jfm.2013.597"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1017\/jfm.2013.384"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.4939499"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.07.012"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ab36c0"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac3ca5"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00332-017-9373-6"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3049430"},{"key":"e_1_2_9_13_1","doi-asserted-by":"crossref","unstructured":"S.Kobayashi T.Ozaki M.Nakabayashi H.Morikawa A.Itoh inIEEE Inter. Conf. on Robotics and Biomimetics IEEE Kunming China2006 pp.463\u2013467.","DOI":"10.1109\/ROBIO.2006.340236"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1299\/jbse.1.280"},{"key":"e_1_2_9_15_1","first-page":"172","volume":"23","author":"Kobayashi S.","year":"2013","journal-title":"Int. J. Offshore Polar Eng."},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3134748"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/9\/3\/036002"},{"key":"e_1_2_9_18_1","first-page":"103","volume":"21","author":"Park Y.-J.","year":"2020","journal-title":"J. Korea Acad.-Ind. coop. Soc."},{"key":"e_1_2_9_19_1","doi-asserted-by":"crossref","unstructured":"M.Ziegler M.Hoffmann J. P.Carbajal R.Pfeifer inIEEE Inter. Conf.on Robotics and Automation IEEE Shanghai China2011 pp.2705\u20132712.","DOI":"10.1109\/ICRA.2011.5979798"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2800776"},{"volume-title":"Sensory Feedback of a Fish Robot With Tunable Elastic Tail Fin. From Biomimetic and Biohybrid Systems. Living Machines","year":"2013","author":"Ziegler M.","key":"e_1_2_9_21_1"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3063961"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3034659"},{"key":"e_1_2_9_24_1","doi-asserted-by":"crossref","unstructured":"M.Jiang Q.Yu N.Gravish inIEEE Inter. Conf. on Soft Robotics (RoboSoft) IEEE Yale University CT2021 pp.315\u2013320.","DOI":"10.1109\/RoboSoft51838.2021.9479201"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/abdc3f"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2016.11.006"},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.3390\/robotics8030077"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2493501"},{"key":"e_1_2_9_29_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-018-04855-9"},{"key":"e_1_2_9_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2975747"},{"key":"e_1_2_9_31_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000997"},{"key":"e_1_2_9_32_1","volume":"6","author":"Zhong Q.","year":"2021","journal-title":"Sci. Rob."},{"key":"e_1_2_9_33_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X15577642"},{"key":"e_1_2_9_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2582718"},{"key":"e_1_2_9_35_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aa7238"},{"key":"e_1_2_9_36_1","doi-asserted-by":"publisher","DOI":"10.1039\/C7SM00546F"},{"key":"e_1_2_9_37_1","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/AST.79.75"},{"key":"e_1_2_9_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(00)00538-0"},{"key":"e_1_2_9_39_1","doi-asserted-by":"publisher","DOI":"10.3390\/ma13040953"},{"key":"e_1_2_9_40_1","doi-asserted-by":"publisher","DOI":"10.1039\/c3ra44412k"},{"key":"e_1_2_9_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2732827"},{"key":"e_1_2_9_42_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/24\/6\/065001"},{"key":"e_1_2_9_43_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X15577645"},{"key":"e_1_2_9_44_1","unstructured":"M. B.Oliveira C.Liu M.Zhao S. M.Felton inASME Conf. on Smart Materials Adaptive Structures and Intelligent Systems San Antonio TX USA2018 pp.8 SMASIS2018\u20138049 V002T08A009."},{"key":"e_1_2_9_45_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1095-8312.1997.tb01806.x"},{"key":"e_1_2_9_46_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfluidstructs.2017.03.006"},{"key":"e_1_2_9_47_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ac97d4"},{"key":"e_1_2_9_48_1","unstructured":"6800 series Instron [Online] https:\/\/www.instron.com\/(accessed: October 2022)."},{"first-page":"12","volume-title":"Standard Test Method for Tensile Properties of Thin Plastic Sheeting","year":"2018","key":"e_1_2_9_49_1"},{"volume-title":"Compliant Mechanisms","year":"2001","author":"Howell L. L.","key":"e_1_2_9_50_1"},{"key":"e_1_2_9_51_1","unstructured":"Nano 17 Ati Industrial Automation [Online] http:\/\/www.ati-ia.com\/(accessed: October 2022)."},{"key":"e_1_2_9_52_1","unstructured":"MAX 106 Dynamixel [Online] https:\/\/www.robotis.us\/dynamixel\/(accessed: October 2022)."},{"key":"e_1_2_9_53_1","unstructured":"National Instruments LabVIEW [Online] https:\/\/www.ni.com\/(accessed: October 2022)."},{"key":"e_1_2_9_54_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2021.101213"},{"key":"e_1_2_9_55_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi10100669"},{"key":"e_1_2_9_56_1","unstructured":"HS-5086WP Hitec [Online] https:\/\/www.hitecrcd.com(accessed: October 2022)."},{"key":"e_1_2_9_57_1","unstructured":"E i2a Systems [Online] https:\/\/i2asys.com(accessed: October 2022)."},{"key":"e_1_2_9_58_1","unstructured":"EPPLER 863 STRUT AIRFOILAirfoil tools [Online] http:\/\/airfoiltools.com\/(accessed: December 2021)."},{"key":"e_1_2_9_59_1","unstructured":"Smooth-On Xtc-3d [Online] https:\/\/www.smooth-on.com(accessed: October 2022)."},{"key":"e_1_2_9_60_1","unstructured":"OptiTrack Prime 13 [Online] https:\/\/optitrack.com(accessed: October 2022)."},{"key":"e_1_2_9_61_1","unstructured":"OptiTrack Motive [Online] https:\/\/optitrack.com(accessed: October 2022)."},{"key":"e_1_2_9_62_1","first-page":"1","volume":"288","author":"Li G.","year":"2021","journal-title":"Proc. R. Soc. B"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200348","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202200348","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200348","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T19:36:38Z","timestamp":1759865798000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202200348"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,27]]},"references-count":61,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2023,5]]}},"alternative-id":["10.1002\/aisy.202200348"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202200348","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"type":"print","value":"2640-4567"},{"type":"electronic","value":"2640-4567"}],"subject":[],"published":{"date-parts":[[2023,1,27]]},"assertion":[{"value":"2022-10-11","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-01-27","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2200348"}}