IEEE Robotics & Automation Magazine - December 2017 - 85
Task 1: Sofa Points: 101
Task 2: Slalom Points: 102
Task 3: Ramp and Door
Points: 104
Task 4: Stones Points: 108
Task 5: Tilted Path Points: 115
Task 6: Stairs Points: 130
Figure 10. The clearing tasks in the powered exoskeleton race at Cybathlon 2016. (Photos courtesy of ETH Zürich/SRF.)
the five tasks as planned, as shown in Figure 10, but he
received scores for only the first four tasks due to the time
limit. A video of the qualification race can be found on YouTube (https://youtu.be/KGHf5AWm3gs).
In the final race, the pilot made a critical mistake on the
stones task; his foot touched the floor, and he eventually
lost balance. The pilot had to spend considerable time
overcoming this mistake. Eventually, he finished the competition stages up to the stairs task. Although the stairs task
was not counted due to the time limit, everyone was standing up and congratulating his success. The pilot won the
bronze medal in the powered exoskeleton race at Cybathlon 2016. Table 4 shows the scores of the qualification and
final races.
Analysis of Cybathlon 2016
Table 5 compares the top three teams in the powered exoskeleton race at Cybathlon 2016. The walking speed of the
WalkON Suit, however, was the slowest among the top
three teams. This was expected because the step length of
the WalkON Suit was limited by the proposed walking
method, i.e., the FIW method. In contrast, ReWalk and
Mina v2 applied a joint trajectory similar to normal walking, which is advantageous for improving walking speed.
However, the normal walking motion is dynamic; thus, it
is not a stable gait motion for complete paraplegics, who
need to walk carefully, maintaining balance for each step.
For this reason, the WalkON Suit was controlled based on
the proposed FIW method. However, we realized that,
once a pilot is fully trained to walk with a robot, he/she
can maintain body balance even when completing dynamic motions. If we participate in the next Cybathlon,
the WalkON Suit will likely be controlled to have more
Table 4. The results of tasks in the exoskeleton
race.
Race
Qualification
Final
Sofa
Clear
Clear
Slalom
Clear
Clear
Ramp and door
Clear
Clear
Stones
Clear
Fail
Tilted path
Dismissed
Dismissed
Stairs
Overtime fault
Overtime fault
Points
415
307
Time
404
252
Ranking
3
3
DECEMBER 2017
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
85
https://www.youtu.be/KGHf5AWm3gs
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