This thesis presents the design, construction, control and evaluation of a novel force controlled actuator. Traditional force controlled actuators are designed from the premise that "Stiffer is better''. This approach ...

Many cells exploit the bending or rotation of flagellar filaments in order to self-propel in viscous fluids. Often swimming occurs in complex, nonlinear fluids, e.g. mucus. Futhermore even in simple Newtonian fluids, if ...