For IBFE models of flexible structures, you will need to provide a mechanics model that is specified using a stress tensor. In IBFEMethod, this is done using the 1st Piola-Kirchhoff stress (which we usually call PP). You need to provide a function that evaluates PP as a point wise function.
To make the swimmer swim, you will need to make it generate some active deformations. I would think about this from the standpoint of modeling active muscle contraction. Standard approaches are so-called active stress and active strain models. Here is a paper:
https://link.springer.com/article/10.1007/s10659-011-9351-4.
Let me know if there are specific questions that we can try to answer about setting up these kinds of models. It mostly boils down to specifying the geometry (mesh) and material properties (stress function). You might also want to include some extra body forces.
— Boyce