Cybathlon
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Team KAIST Crowned Champion for their World’s Best Ironman, Winning their 2nd Consecutive Win at the Cyborg Olympics
< Group photo of our research team participating in the 3rd Cybathlon >
The Cybathlon is an international competition, which aims to help overcome disabilities through the use of robotics technology. KAIST researchers came in third, winning the bronze medal, at their 1st participation in 2016, won their first gold medal at the 2nd competition in 2020, and took back the gold medal at this year’s 3rd competition, successfully defending their champion title.
KAIST (President Kwang-Hyung Lee) announced on the 28th of October that the wearable robot ‘WalkON Suit F1’ developed by the joint research team of KAIST EXO-Lab, Move Lab, and Angel Robotics, led by Professor Kyoungchul Kong of the Department of Mechanical Engineering (Chairman of Angel Robotics), won gold medal in Cybathlon 2024 held on the 27th.
< Seunghwan Kim, the Paraplegic Pilot of Team KAIST, cheering after completing all the missions >
Cybathlon is an international competition first held in Switzerland that challenges teams to develop assistive technologies with the purpose of overcoming disabilities, and is also called the Cyborg Olympics. Right after each competition, the missions for the next competition are announced, and research teams from around the world research and develop the right assistive technology for next four years to accomplish the given mission.
Aside from the Exoskeleton Race, competitions in a total of eight disciplines are held, including Arm Prosthesis Race, Leg Prosthesis Race, and Wheelchair Race. A total of 71 teams from 26 countries participated in the 3rd Cybathlon event. Professor Kyoungchul Kong’s research team participated in the Exoskeleton Race, the same discipline they took part in the previous competition.
The Exoskeleton Race is the highlight of the event that can be called the core of the Cybathlon. In the prosthetic arm or leg events, disabled athletes wearing traditional assistive devices instead of powered devices often win depending more on the ability of the athletes rather than the technology behind the tools.
However, the exoskeleton event requires individuals with paraplegic disability to walk completely dependent on the robotic device to perform various missions, so the technical difficulty and the dependence on robotics technology is high.
In fact, many teams gave up on participating after seeing the missions for this competition, and more than half of the research teams declared withdrawal during the developmental process. In the end, only six teams from Korea, Thailands, Switzerland, Germany, and the Netherlands participated in the actual competition. Even the research team from the Swiss headquarters declared forfeiture midway as the competition date drew nearer.
< Cybathlon 2024 – Exoskeleton Race Mission Description >
The reason why many teams gave up in the exoskeleton discipline was because the difficulty of the missions was unusually high. Most research teams have the skills to make paraplegic athletes walk, but there were many other difficult tasks, such as making them walk without crutches or using both hands, while standing free on both legs on the exoskeleton, to cut a lump of sponge block, as in imitating food preparing process.
The reason why the difficulty of the missions increased like this is because Professor Kong's research team completed all the missions given to them too quickly in the last competition. In fact, in the last competition, there was even a question asked whether Kim Byeong-Uk (paraplegic) wearing the WalkON Suit F1 was really disabled.
Professor Kong's research team developed WalkON Suit F1 to successfully complete the missions. The number of motorized joints increased from six to twelve, and the output of the motor itself was more than doubled compared to the previous model that ran in the competition back in 2020. The 6-channel ground reaction force sensor on the foot measured the robot's balance 1,000 times per second to maintain balance. Cameras were installed to detect obstacles, and an AI board for implementation of AI neural network was also installed.
On top of the technologies required to complete the competition missions, a function was implemented that allows the users to wear the robot by themselves and dock on to it right from their wheelchair. In the process, all parts were domestically produced and all basic technologies were internalized. The outer design of the robot was done by Professor Hyunjoon Park of KAIST, and the harmony between people and robots was pursued.
In the end, the results of the competition were as expected. The only team that could successfully perform all of the mission tasks, which were originally designed to challenge Professor Kong's research team, was Professor Kong's team. They successfully completed missions such as moving by sidesteps between narrow chairs, moving boxes, walking freely unassisted by crutches, passing through a narrow door and closing it behind, and working on food preparation in the kitchen, recording 6 minutes and 41 seconds to complete all six tasks.
The Swiss and Thai teams that took 2nd and 3rd places were all given 10 minutes, but only were able to perform two missions, each earning twenty points. It was an unevenly matched race to begin with. The Cybathlon broadcast team was more surprised and interested in the performance of WalkON Suit F1 than in result of the race.
< Team KAIST’s Paraplegic Pilot Seunghwan Kim (left), and Professor Kyoungchul Kong (right) >
Researcher Jeongsu Park, the captain of Team KAIST, said, “We came into this competition thinking of it as a competition against ourselves to begin with and focused on showing the technological gap. Now, we are very happy and proud that our endeavors achieved such good result as well.” He added, “We plan to continue to showcase various functions of the WalkON Suit F1 that have not yet been publicly introduced.”
Researcher Seunghwan Kim, the paraplegic athlete of the team, said, “I am so touched that I was able to introduce the world’s best wearable robot technology of Korea with my own body.”
On a different note, Professor Kong’s research team has successfully commercialized wearable robots through Angel Robotics Co., Ltd. since the 2020 competition. In 2022, they began distributing “ANGEL LEGS M20,” the first wearable robot to be covered by health insurance, and as a result, Angel Robotics Co., Ltd. was successfully listed on KOSDAQ this March.
The various know-how and core technologies accumulated while preparing for this competition is to contribute to further development and propagation of wearable robots, provoking imagination to draw on the future of wearable robots and on how it may change our daily lives.
Final Match (Self-filmed): https://youtu.be/3ASAtvkiOhw
Final Match and Interview (Official Video): https://youtu.be/FSfxOTpDjSE
Final Match and Interview (Summary): https://youtu.be/Sb_vd5-3f_0
2024.10.28 View 1526 -
‘WalkON Suit 4’ Releases Paraplegics from Wheelchairs
- KAIST Athletes in ‘WalkON Suit 4’ Dominated the Cybathlon 2020 Global Edition. -
Paraplegic athletes Byeong-Uk Kim and Joohyun Lee from KAIST’s Team Angel Robotics won a gold and a bronze medal respectively at the Cybathlon 2020 Global Edition last week. ‘WalkON Suit 4,’ a wearable robot developed by the Professor Kyoungchul Kong’s team from the Department of Mechanical Engineering topped the standings at the event with double medal success.
Kim, the former bronze medallist, clinched his gold medal by finishing all six tasks in 3 minutes and 47 seconds, whereas Lee came in third with a time of 5 minutes and 51 seconds. TWIICE, a Swiss team, lagged 53 seconds behind Kim’s winning time to be the runner-up.
Cybathlon is a global championship, organized by ETH Zurich, which brings together people with physical disabilities to compete using state-of-the-art assistive technologies to perform everyday tasks. The first championship was held in 2016 in Zurich, Switzerland.
Due to the COVID-19 pandemic, the second championship was postponed twice and held in a new format in a decentralized setting. A total of 51 teams from 20 countries across the world performed the events in their home bases in different time zones instead of traveling to Zurich. Under the supervision of a referee and timekeeper, all races were filmed and then reviewed by judges.
KAIST’s Team Angel Robotics participated in the Powered Exoskeleton Race category, where nine pilots representing five nations including Korea, Switzerland, the US, Russia, and France competed against each other.
The team installed their own arena and raced at the KAIST Main Campus in Daejeon according to the framework, tasks, and rules defined by the competition committee. The two paraplegic pilots were each equipped with exoskeletal devices, the WalkON Suit 4, and undertook six tasks related to daily activities.
The WalkON Suit 4 recorded the fastest walking speed for a complete paraplegic ever reported. For a continuous walk, it achieved a maximum speed of 40 meters per minute. This is comparable to the average walking pace of a non-disabled person, which is around two to four kilometers per hour.
The research team raised the functionality of the robot by adding technology that can observe the user’s level of anxiety and external factors like the state of the walking surface, so it can control itself intelligently. The assistive functions a robot should provide vary greatly with the environment, and the WalkON Suit 4 made it possible to analyze the pace of the user within 30 steps and provide a personally optimized walking pattern, enabling a high walking speed.
The six tasks that Kim and Lee had to complete were:1) sitting and standing back up, 2) navigating around obstacles while avoiding collisions, 3) stepping over obstacles on the ground, 4) going up and down stairs, 5) walking across a tilted path, and 6) climbing a steep slope, opening and closing a door, and descending a steep slope.
Points were given based on the accuracy of each completed task, and the final scores were calculated by adding all of the points that were gained in each attempt, which lasted 10 minutes. Each pilot was given three opportunities and used his/her highest score. Should pilots have the same final score, the pilot who completed the race in the shortest amount of time would win.
Kim said in his victory speech that he was so thrilled to see all his and fellow researchers’ years of hard work paying off. “This will be a good opportunity to show how outstanding Korean wearable robot technologies are,” he added.
Lee, who participated in the competition for the first time, said, “By showing that I can overcome my physical disabilities with robot technology, I’d like to send out a message of hope to everyone who is tired because of COVID-19”.
Professor Kong’s team collaborated in technology development and pilot training with their colleagues from Angel Robotics Co., Ltd., Severance Rehabilitation Hospital, Yeungnam University, Stalks, and the Institute of Rehabilitation Technology.
Footage from the competition is available at the Cybathlon’s official website.
(END)
2020.11.20 View 7517 -
Wearable Robot 'WalkON Suit' Off to Cybathlon 2020
Standing upright and walking alone are very simple but noble motions that separate humans from many other creatures. Wearable and prosthetic technologies have emerged to augment human function in locomotion and manipulation. However, advances in wearable robot technology have been especially momentous to Byoung-Wook Kim, a triplegic for 22 years following a devastating car accident.
Kim rejoiced after standing upright and walking again by putting on the ‘WalkON Suit,’ the wearable robot developed by Professor Kyoungchul Kong’s team. Even more, Kim won third prize in the powered exoskeleton race at Cybathlon 2016, an international cyborg Olympics hosted by ETH Zurich.
Now Kim and Professor Kong’s team are all geared up for the Cybathlon Championship 2020. Professor Kong and his startup, Angel Robotics, held a kickoff ceremony for Cybathlon 2020 at KAIST on June 24. The 2020 championship will take place in Switzerland.
Only pilots with complete paralysis of the legs resulting from spinal cord injuries are eligible to participate in the Cybathlon, which takes place every four years. Pilots compete against each other while completing everyday tasks using technical assistance systems in six different disciplines: a brain-computer interface race, a functional electrical stimulation bike race, a powered arm prosthesis race, a powered leg prosthesis race, a powered exoskeleton race, and a powered wheelchair race. The 2016 championship drew 66 pilots from 56 teams representing 25 countries.
In the powered exoskeleton race, pilots complete everyday activities such as getting up from a sofa and overcoming obstacles such as stairs, ramps, or slopes and up to four pilots compete simultaneously on tracks to solve six tasks; and the pilot that solves the most tasks in the least amount of time wins the race.
(Kim, a triplegic for 22 years demonstrates walking and climbing the stairs (below photo) wearing the WalkOn Suit during the media day on June 21 at KAIST.)
Kim, who demonstrated walking and climbing the stairs wearing the WalkON Suit during the media day for the Cybathlon 2020 kickoff ceremony on June 21 at KAIST, said, “I have been confined to a wheelchair for more than 20 years. I am used to it so I feel like the wheelchair is one of my body parts. Actually, I don’t feel any big difficulties in doing everyday tasks in wheelchair. But whenever I face the fact that I will never be able to stand up with my own two legs again, I am so devastated.” He continued, “I still remember the day when I stood up with my own two legs by myself after 22 years. It was beyond description.”
The market for wearable robots, especially for exoskeleton robots, is continuing to grow as the aging population has been a major challenge in almost every advanced country. The global market for these robots expects to see annual growth of 41.2% to 8.3 billion US dollars by 2025. Healthcare wearable robots for the elderly and rehabilitation take up the half of the market share followed by wearable robots for industrial and defense purposes.
Professor Kong from the Department of Mechanical Engineering and his colleagues have developed two wearable robot systems in 2014: The "WalkON Suit" for complete paraplegics and “Angel Suit” for those with partial impairment in walking ability such as the elderly and rehabilitation patients.
Professor Kong said after 15 years of basic research, the team is now able to develop its own distinct technologies. He said their robots are powered by non-resistant precision drives with algorithms recognizing the user’s moving intention. Incorporated with prosthetic devices technology from the Severance Rehabilitation Hospital, their control technology has led to the production of a customizable robot suit optimized for each user’s physical condition.
The WalkON Suit, which boasts a maximum force of 250 Nm and maximum rotation speed of 45 RPM, gives the user high-energy efficiency modeled after the physiology of the human leg. It allows users to walk on flat ground and down stairs, climb up and down inclines, and sit and lie down. Currently the battery lasts five to six hours for locomotion and the approximate 25 kg of robot weight still remains a technical challenge to upgrade.
Professor Kong’s team has grafted AR glass technology into the WalkOn Suit that one of his pilots put on for the torch relay of the PyongChang Paralympics in 2018. His team is now upgrading the WalkON Suit 4.0 for next year’s competition. Severance Rehabilitation Hospital will help the seven pilots with their training.
Professor Kong said his goal is to make robots that can make people with disabilities much more independent. He stressed, “Wearable robots should be designed for each single user. We provide a very good graphical user interface so that we can design, check, and also verify our optimized design for users’ best performance.”
(Seven pilots and Professor Kong (fifth from left in second row) pose with guests who joined the Cybathlon 2020 kickoff ceremony. President Shin (fifth from right) made a congratulatory remarks during the ceremony.)
2019.06.25 View 38108