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The superb swimming skills and performance of the fish are the result of the multi degree of freedom movement of the fin and the fin surface.The fin in the course of the swing is also accompanied by a twist,and the direction of the interaction between the fin surface and water can be adjusted by the movement,so the fish can get the propulsion of different directions,which can help to complete the complex movements,such as turning,pitching and rolling,so as to achieve the maximum of the motor performance.