Thrust-force characteristics of enlarged propulsion mechanisms modeled on eukaryotic flagellar movement and ciliary movement in fluid

We have noted the utility of the eukaryotic flagellar movement and the ciliary movement for propulsion in fluid, and developed two enlarged propulsion mechanisms modeled on eukaryotic flagellar and ciliary movements. For the propulsion mechanisms modeled on eukaryotic flagellar movement, we used the model of the active sliding of microtubules in eukaryotic flagella: active sliding between two rows of electromagnets on flexible beams corresponding to the active sliding of microtubules was made for the bending of the mechanism. For the propulsion mechanisms modeled on ciliary movement, we made a bending mechanism equipped with a motor on its base and a variable-bending stiffness fin that realizes the effective stroke and recovery stroke. The variable-bending-stiffness fin consists of two flexible sheets and electromagnets. The electromagnets control the frictional force between the two flexible sheets. Bending stiffness is controlled dynamically by changing the frictional force between the two flexible sheets. We discuss the thrust force characteristics of the two propulsion mechanisms.