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At present, the variable\u2010stiffness design of robotic fish still suffers from structural complexity, severe deformation, and small variation range, which limits the application of variable\u2010stiffness theory in robotic fish. In this article, a variable\u2010stiffness tail is designed based on layer\u2010jamming for robotic fish, which can conveniently achieve online stiffness adjustment while maintaining the optimal stiffness distribution and the shape is unaffected. A modeling method for the tail is proposed by combining the mechanical characteristics of the layer\u2010jamming structure with the pseudo\u2010rigid body model. To validate the performance of the tail, a series of experiments are conducted, which show that the stiffness variation range of the tail is around 10 times, and the accuracy of the model in predicting the kinematics of the tail is also verified. Moreover, the thrust tests demonstrate that stiffness adjustment is beneficial for fish swimming at different frequencies. The proposed variable\u2010stiffness tail will promote the development of efficient underwater biomimetic robots.<\/jats:p>","DOI":"10.1002\/aisy.202400189","type":"journal-article","created":{"date-parts":[[2024,6,19]],"date-time":"2024-06-19T12:49:59Z","timestamp":1718801399000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Novel Variable\u2010Stiffness Tail Based on Layer\u2010Jamming for Robotic Fish"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5216-569X","authenticated-orcid":false,"given":"Zicun","family":"Hong","sequence":"first","affiliation":[{"name":"Shien\u2010Ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}]},{"given":"Zhenfeng","family":"Wu","sequence":"additional","affiliation":[{"name":"Shien\u2010Ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}]},{"given":"Qixin","family":"Wang","sequence":"additional","affiliation":[{"name":"Shien\u2010Ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}]},{"given":"Jianing","family":"Li","sequence":"additional","affiliation":[{"name":"Shien\u2010Ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2673-856X","authenticated-orcid":false,"given":"Yong","family":"Zhong","sequence":"additional","affiliation":[{"name":"Shien\u2010Ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}]}],"member":"311","published-online":{"date-parts":[[2024,6,19]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.000265"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/36.6.678"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.012096"},{"key":"e_1_2_9_3_3","first-page":"860","volume":"58","author":"Tytell E. 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