Tensegrity robotic fish modelling in Simscape multibody

Hi,

I am currently working on a project to develop a tensegrity robotic fish. The fish consists of 5 Variable Stiffness Tensegrity Joints (VSTJs) joined in series. VSTJ is shown in the picture attached. I have a few questions regarding modelling this in Simscape.

Question 1: How can I model the strings in the joint?

Question 2: I am attaching a flexible strain sensor to sense the curvature as the joint bends, will I be able to model this flexible sensor and will I be able to see the bending in simulation?

Question 3: How can I develop a model for hydrodynamic interaction between the robotic fish and its environment?

P.S. : I am new to Simscape but can code in matlab.

Thank You

A.Shafeeg