*3.4.1. Research on Development of a Flexible Pectoral Fin Using Shape Memory Alloys*

In [83], experimental research on pectoral fin structure is presented. The design of the pectoral fin actuator is based on SMAs wires composed by a couple of plates with the opposite functions. Figure 10 shows the biomimetic pectoral fin.

**Figure 10.** Biomimetic pectoral fin driven by eight couples of SMA plates [83].

This pectoral fin was the first and today continues being the only designed with only SMA wires. In fact, most research on fish-like robots is focused on studying propulsion (how to generate thrust), while maneuvers is largely unexplored.
