Effects of symmetry-breaking mechanisms on the flow field around magnetic-responsive material appendages that mimic swimming strokes

This study quantifies the effects of breaking the symmetry of magnetic-responsive material appendage motion. Asymmetry is achieved through distinct shape changes and asymmetric cycle periods. The appendage with an asymmetric joint and asymmetric cycle demonstrates significantly faster downward motion (and enhances swimming efficiency) by reducing the vorticity strength and viscous energy dissipation in the surrounding fluid. The study provides insights into the induced flow and opens avenues for bio-inspired aquatic robots made from magnetic-responsive soft materials with the potential for fostering underwater propulsion and exploration in aquatic environments.