Cybathlon Races & Rules

RACES & RULES V_2016-08-10

IMPORTANT NOTES I. II. III.

If any detail of the Cybathlon Races & Rules is modified, this will be communicated to the teams. All the dimensions are in millimetres and weights in kilograms, if not otherwise stated. Friction properties: All ramps, the stones of the stone routes and the bars of the rough terrain will be coated with a colour containing quartz sand (grain size: 0.1 – 0.6mm). The mixing ratio is 1:0.13.

FEEDBACK AND QUESTIONS If you have any input or question on the current version of the rules, please contact [email protected].

Cybathlon Races & Rules

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CONTENTS 1.

General Rules .................................................................................................................................................. 1 1.1

General Rules for Teams and Pilots ....................................................................................................... 1

1.2

General Rules for Technology and Devices ........................................................................................... 1

1.3

General Regulations on the Competition Mode .................................................................................... 2

1.3.1

Qualification Races ............................................................................................................................ 2

1.3.2

Finals ................................................................................................................................................. 2

1.4 1.4.1

BCI and FES Bike Race........................................................................................................................ 3

1.4.2

ARM, LEG, EXO and WHEEL Race ...................................................................................................... 3

1.4.3

Overview ........................................................................................................................................... 4

1.5 2.

3.

4.

Scoring System, Ranking, and General Race Rules ................................................................................ 2

Case of Ambiguous Ranking Or Decisions ............................................................................................. 5

Brain-Computer Interface Race....................................................................................................................... 6 2.1

Introduction ........................................................................................................................................... 7

2.2

Inclusion Criteria .................................................................................................................................... 8

2.2.1

Pilots .................................................................................................................................................. 8

2.2.2

Technology ........................................................................................................................................ 8

2.3

Specific Rules ......................................................................................................................................... 9

2.4

Task Description .................................................................................................................................... 9

2.5

Competition Mode and Scoring System .............................................................................................. 10

Functional Electrical Stimulation Bike Race .................................................................................................. 11 3.1

Introduction ......................................................................................................................................... 12

3.2

Inclusion Criteria .................................................................................................................................. 12

3.2.1

Pilots ................................................................................................................................................ 12

3.2.2

Technology ...................................................................................................................................... 12

3.3

Specific Rules ....................................................................................................................................... 13

3.4

Race Description .................................................................................................................................. 13

3.5


Powered Arm Prosthesis Race ...................................................................................................................... 15 4.1

Introduction ......................................................................................................................................... 16

4.2


4.2.1

Pilots ................................................................................................................................................ 16

4.2.2

Technology ...................................................................................................................................... 16

4.3

Specific Rules ....................................................................................................................................... 16

4.4

Task Description .................................................................................................................................. 17

4.4.1

Puzzle (Blue Objects Included) ........................................................................................................ 18

4.4.2

Wire Loop (Blue Objects Included) .................................................................................................. 20


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4.4.3

Shelf and Tray (Blue Objects Included) ........................................................................................... 21

4.4.4

Breakfast Table ................................................................................................................................ 24

4.4.5

Hang-Up (Blue Objects Included) .................................................................................................... 27

4.4.6

Carry ................................................................................................................................................ 30

4.5 5.

Powered Leg Prosthesis Race ........................................................................................................................ 33 5.1

Introduction ......................................................................................................................................... 34

5.2


5.2.1

Pilots ................................................................................................................................................ 34

5.2.2

Technology ...................................................................................................................................... 34

5.3

Specific Rules ....................................................................................................................................... 34

5.4


5.4.1

Sofa.................................................................................................................................................. 35

5.4.2

Hurdles ............................................................................................................................................ 36

5.4.3

Ramp & Door ................................................................................................................................... 37

5.4.4

Stones .............................................................................................................................................. 38

5.4.5

Tilted Path ....................................................................................................................................... 39

5.4.6

Stairs ................................................................................................................................................ 40

5.5 6.


Powered Exoskeleton Race ........................................................................................................................... 43 6.1

Introduction ......................................................................................................................................... 44

6.2


6.2.1

Pilots ................................................................................................................................................ 44

6.2.2

Technology ...................................................................................................................................... 44

6.3

Specific Rules ....................................................................................................................................... 44

6.4


6.4.1

Sofa.................................................................................................................................................. 45

6.4.2

Slalom .............................................................................................................................................. 46

6.4.3

Ramp & Door ................................................................................................................................... 47

6.4.4

Stones .............................................................................................................................................. 48

6.4.5

Tilted Path ....................................................................................................................................... 49

6.4.6

Stairs ................................................................................................................................................ 50

6.5 7.



Powered Wheelchair Race ............................................................................................................................ 52 7.1

Introduction ......................................................................................................................................... 53

7.2


7.2.1

Pilots ................................................................................................................................................ 53


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7.2.2

Technology ...................................................................................................................................... 53

7.3

Specific Rules ....................................................................................................................................... 53

7.4


7.4.1

Table ................................................................................................................................................ 54

7.4.2

Slalom .............................................................................................................................................. 55

7.4.3

Ramp & Door ................................................................................................................................... 56

7.4.4

Rough Terrain .................................................................................................................................. 57

7.4.5

Tilted Path ....................................................................................................................................... 58

7.4.6

Stairs ................................................................................................................................................ 59

7.5



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1. GENERAL RULES The general rules (GR) are the same for all six Cybathlon disciplines:      

Brain-Computer Interface Race (BCI) Functional Electrical Stimulation Bike Race (FES) Powered Arm Prosthesis Race (ARM) Powered Leg Prosthesis Race (LEG) Powered Exoskeleton Race (EXO) Powered Wheelchair Race (WHEEL)

1.1 GENERAL RULES FOR TEAMS AND PILOTS GR-1

GR-2 GR-3 GR-4

GR-5 GR-6 GR-7

Several teams participate in the competition. A team consists of at least one technology provider (e.g. member of a research lab or a company) and one pilot. The technology provider is usually the developer of the device, who tunes and adapts the technology and provides technical support at the competition. In exceptional cases, when the pilot develops and brings his or her own technology, the provider and pilot can be the same person. Each team can participate in several disciplines. Only one pilot can participate per team per 1 discipline. Pilots must be at least 18 years old on the day of the race. In the pilots’ inclusion criteria for each discipline the minimal requested level of the pilots’ lesion or amputation is defined. Pilots who have more severe handicaps can be included, although they might have a disadvantage in comparison with the target group. Each case is individually checked by the committee to ensure that the difference, i.e. disadvantage, is not too distinct. Pilots must have sufficient cognitive and communicative abilities to understand the races and rules. The teams shall provide the pilots with sufficient training. Team members must not use cardiac pacemakers.

Please find further information on the conditions of participation in the Cybathlon registration form.

1.2 GENERAL RULES FOR TECHNOLOGY AND DEVICES GR-8

GR-9

GR-10

GR-11

The technical devices and their use must be safe for the pilot, the environment and other people involved prior to, during and after the races. Safety approvals must be provided several months prior to the race (see Cybathlon registration form). The descriptions and documentations of the devices are to be checked by an independent expert committee selected by the Cybathlon organising committee. Assistants will further supplement the safety precautions during the race. The day before or on the day of the race, the physical hardware and software are to be checked by the expert committee. After this safety and function check, no further changes may be made to the device. Inspection of the used technology and devices by independent experts can also occur at any time on the day of the race. If the team refuses the inspection, the team will be disqualified. It is allowed to use commercially available devices. Competitors are permitted to modify them to optimise function. Alternatively, completely new devices (prototypes, research devices) are also allowed. All the components (batteries, control units, tools, replacement equipment, etc.) that are used during the race must be carried by the pilot from the start to the end of the race. All these

1

In case of free starting slots in a later registration phase or withdrawal of teams, more than one pilot of the same team will be allowed to start in the same discipline. Cybathlon Races & Rules

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GR-12 GR-13

GR-14

GR-15 GR-16

components must be listed in the description of the device handed in for the safety and function check of the devices. During the race, only the pilot is allowed to maintain or replace components. Between the races, any team member is allowed to maintain or replace components. Supporting persons are not allowed to travel alongside the pilot on the race track. Supporting persons, who must be registered team members are only allowed to stay at a defined position in the vicinity of the race track. If a supporting person is only allowed to interact with the pilot in case of a technical defect or emergency. In case of such an external intervention, the race is finished for that pilot. Communication (wired or wireless) between the device and any third-party stationary site is not allowed, i.e. remote connection to control the device by any person other than the pilot is forbidden, except for emergency stop and data monitoring. Combustion engines are not allowed. Radio communication between the pilot and a team member or any other person is not allowed.

Please find further information on the required documentation of devices in the Cybathlon registration form.

1.3 GENERAL REGULATIONS ON THE COMPETITION MODE In each discipline, teams compete for three medals: gold, silver and bronze. All winning teams (first, second, third place) receive two medals, one for the pilot and one for the technology provider. The competition for each discipline is split into preceding qualification races followed by finals. It is not allowed to exchange pilots between races (in case a backup pilot is registered), i.e. only the pilot that starts in the qualification is allowed to start in subsequent races.

1.3.1 QUALIFICATION RACES Each pilot first competes in a qualification race. Based on the ranking of all pilots of one discipline, it will be determined, which pilots will compete in the final races. Four or fewer pilots compete in each of the qualification races. There are four parallel race courses built up in the stadium for BCI, ARM, LEG, EXO and WHEEL and two for FES.

1.3.2 FINALS The best four pilots (two pilots in the case of the FES bike race) of the qualification races take part in the Afinal. The second best four pilots of the qualification races, i.e. ranked 5 to 8 in the qualification races (or two pilots, i.e. ranked 3 and 4 in the FES bike qualification races), compete in the B-final. The third best four pilots 2 compete in the C-final and so on . The best three pilots of the A-final get the medals. The four pilots in a B-Final compete for the rankings 5 to 8, and so on. (In case of the FES bike race, where only two pilots compete in the final races, the two pilots in the A-final compete for the gold and the silver medal. The two pilots in the B-final compete for the bronze medal.)

1.4 SCORING SYSTEM, RANKING, AND GENERAL RACE RULES The general goal of the races is to cover the racing distance as fast as possible (BCI, FES) or to solve all given tasks on a race course as fast as possible (ARM, LEG, EXO, WHEEL) within a given race time limit. A countdown is displayed in the arena that shows the remaining time.

2

Depending on the number of registrants, it might not be possible to conduct finals with all pilots, i.e. for the pilots placed in lower ranks after qualification no final may be conducted. Cybathlon Races & Rules

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1.4.1 BCI AND FES BIKE RACE The race is finished for the pilot if she/he passes the finish line or if the time limit is reached. To rank the pilots, in the first instance, the distance covered is determinative. In the second instance, i.e. if more than one pilot covers the same distance, the time taken to cover the distance is determinative. Example 1 All pilots in the FES Bike Race final have reached the finish line within the time limit, i.e. all pilots covered the same distance.  The first pilot who has reached the finish line has won, i.e. the fastest has won. Example 2 No pilot has reached the finish line of the FES Bike Race within the time limit.  The pilot that has covered the longest distance within the time limit has won the race. GR-BCI/FES-1

A pilot’s race is failed if it is terminated by herself or himself, by the referee due to an infringement, or by a physical intervention by a third person, e.g. a race assistant (Cybathlon staff member that supports the race management) or supporting person.

1.4.2 ARM, LEG, EXO AND WHEEL RACE The race is finished for a pilot if she/he has solved (or failed) each task of the six tasks or if the time limit is reached. For each task, points can be scored and time is measured. More difficult tasks offer higher scores. The scores for the six tasks are:

101, 102, 104, 108, 115, 130 points The hundreds represent the task, the tens and units the difficulty of the task. To rank the pilots, first of all, the number of scored points is determinative. In the second instance, time needed to complete the solved task(s) is determinative. Thus, if more than one pilot has solved the same task(s) and, thus, obtains the same number of points, the time needed to complete the solved task(s) (sum of the time taken to complete all solved tasks) will be considered determinative. The tasks, the points, and the time limit for the race are the same for the qualification races and the finals. Example 1 One pilot in a Wheelchair Race has solved five tasks (e.g. 545 points); another pilot has solved four tasks (e.g. 457 points).  The pilot that has solved five tasks is ranked higher than the pilot that has solved four tasks. Example 2 Two pilots in an Arm Prosthesis Race have solved two tasks, but not the same two tasks.  The pilots are ranked by the sum of the scored points. E.g. the pilot that scored 231 points is ranked higher than the pilot that has scored 223 points. Example 3 Two pilots of a Leg Prosthesis Race have solved the same three tasks; consequently, they also scored the same number of points (e.g. both 307 points).  The pilot that has solved the three tasks in the least time (sum of the time of the three solved tasks) is ranked higher.


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GR-ARM/LEG/EXO/WHEEL-1 GR-ARM/LEG/EXO/WHEEL-2

GR-ARM/LEG/EXO/WHEEL-3


GR-ARM/LEG/EXO/WHEEL-5 GR-ARM/LEG/EXO/WHEEL-6


A task ends when the start line of the next task (or finish line of the race) is passed. A pilot’s task is failed if it is terminated by herself or himself, by the referee due to an infringement, or by a physical intervention from a third person, i.e. a race assistant (Cybathlon staff member that supports the race management) or spotter (Cybathlon staff member that prevents pilots from falling, helps to stand up or to release). In the case of task termination, the pilots must proceed to the start line of the next task (or finish line of the race). If required, spotters may be asked to intervene and to help the pilot to reach the start line of the next task. In these cases, the task is failed. It is permitted to skip tasks and continue with the next task. In this case, the task element must be passed on the right-handed side (in race direction). After skipping it is not permitted to go back and solve the task later. A jump start leads to disqualification of the pilot. The tasks need to be solved in the order of appearance on the race track. It is not allowed to retry a task after having passed the finish line of the task, after skipping the task or after the task is failed. If a line marking the boarder of the race track on either of the sides of the track is crossed, i.e. if any part of the device or pilot touches the ground beyond the line, the task is failed. The width of a race track is approx. 3 m.

An interim time is taken at the point of completion of each task. If a task is completed correctly, a lamp placed next to the task element on the competition field is switched on and shines green. The lamp shines red if a task is failed, i.e. because the task is not overcome, is infringed or the race time limit is reached. The lamp is off if the task is still to be solved within the current race.

1.4.3 OVERVIEW The tasks, the points and the time limit for each race are the same for the qualification races and the finals. The points can be found in the section Competition Mode and Scoring System of each discipline. Discip.

ARM LEG EXO WHEEL BCI FES

# Pilots in each race

Race end

Time limit [min]

Scoring key

4

1. Race finish line

8 4 10 8

2

2. Expiration time limit

4 8

1. Number of points 2. Total time taken for completed tasks (uncompleted or failed tasks are not included) 1. Distance covered 2. Total time taken for the distance covered


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Qualification ranking Relative to all pilots of the discipline; Allocation to: st

Final ranking Relative to pilots of the same final

th

A-Final: 1 - 4 th th B-Final: 5 - 8 C-Final: … st

th

A-Final: 1 & 2 rd th B-Final: 3 & 4 C-Final: …

st

th

A-Final: 1 - 4 th th B-Final: 5 - 8 C-Final: … st

th

A-Final: 1 & 2 rd th B-Final: 3 & 4 C-Final: …

4

Illustration of competition field (example WHEEL)

1.5 CASE OF AMBIGUOUS RANKING OR DECISIONS After the qualification races, if it cannot be determined which pilot is allocated to a certain race of a final (very unlikely), the allocation will be determined by lot. After the finals, if it cannot be determined which pilot is ranked better, the results of the qualification are determinative. In case of any inconclusive occurrence or situation beyond the referee’s decision, rules or regulations, the Competition Director will be the supreme authority.


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2. BRAIN-COMPUTER INTERFACE RACE


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2.1 INTRODUCTION In the Brain-Computer Interface (BCI) Race, the reliability and precision of BCIs will be challenged in a virtual game in order to develop BCIs with various applications in daily life. BCIs are able to detect brain signals to allow, for example, people with quadriplegia to control different kind of devices, e.g. a computer, a robotic arm or a wheelchair. Up to four pilots in each race are equipped with brain-computer interfaces (BCIs) that enable them to control an avatar in the game BrainRunners. BrainRunners is a multiplayer “running” game developed for the BrainComputer Interface Race of the Cybathlon. Each avatar moves forward by itself, and thus, reaches the finish line of the race even without input signals from the pilot. The pilot has to send appropriate commands using the BCI within the correct time frame while virtually walking on dedicated areas indicated by colored “pads”. Giving the correct command at the correct time or not sending a command if no command is desired accelerates the avatar, thus providing the pilot with an advantage over her or his competitors by moving the avatar closer to the finish line faster. Pilots can trigger the avatar to rotate on a “ROTATE” action pad (cyan), jump over prickles on a “JUMP” action pad (magenta), or slide below rays on a “SLIDE (yellow)” action pad. Thus, a maximum of three different commands can be sent from the BCI within the game, but not every command has to be implemented. One command is sufficient to play the game, but the more different commands the pilot can fire and the BCI system can detect, the faster the avatar arrives at the finish line. Incorrectly chosen commands (e.g. JUMP instead of ROTATE) or incorrectly timed commands yield a disadvantage, i.e. the avatar decelerates and loses time. On the “NOINPUT” pad, pilots accelerate if they manage not sending any input and decelerate if they send a command accidently. Four pilots can simultaneously compete in the same race. Every pilot’s avatar is placed on a track. Each pilot sits in front of a separate screen to play the game and sees his or her avatar as well as the three competing avatars. The pilot whose avatar first crosses the finish line wins the race.

Figure 1 Screen shot of BrainRunners. Gray PAD: NOINPUT. Cyan PAD: ROTATE. Magenta PAD: JUMP. Yellow PAD: SLIDE.


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2.2 INCLUSION CRITERIA 2.2.1 PILOTS In addition to the general inclusion criteria described in section 1.1, participating pilots must fulfil the following criteria: -

-

Pilots have a complete or a severely affected incomplete loss of motor function at and below the neck level due to SCI, stroke, ALS or another lesion, i.e. are tetraplegic or tetraparetic (ASIA A to C). Pilots are judged for eligibility with regard to psychological condition and motor and cognitive impairments on a case-by-case basis. Pilots are not vulnerable to cyber-sickness, epilepsy or similar problems.

2.2.2 TECHNOLOGY In addition to the general rules described in section 1.2, the following criteria apply to the BCI hardware: -

-

-

While the primary envisioned BCI type is electroencephalography (EEG), other brain activity measurements such as functional near infrared spectroscopy (NIRS) are also permitted as long as they primarily measure brain activity. Electrodes can be wired or wireless, and the BCI amplifier can be powered by any means as long as the technology is safe. Skin-piercing electrodes are not permitted. Other than that, the choice of electrode type, cap and gel (if any) are up to the participating team. Pilots have to watch the race screen during the race. It is not allowed to give any additional (artificial) stimulation or feedback in any modality via the BCI system. Thus, visually evoked potentials (SSVEPs, P300, etc.) may not be used as the source of the input signal for the race unless they are elicited by the race animation provided by the organisers and not by an additional display. In addition, it is not allowed to provide feedback on the current state of the analysis, e.g. the current state of the signal (how close the pilot is to sending a command). During the mandatory technical check one day before the competition, to check for the presence of eye artifacts, judges may attach EOG electrodes (if not used anyway for artifact removal). During each race, each pilot is recorded by a webcam. In case of any doubt, the video material is used for review by the Cybathlon organising committee. In addition, the teams must record all signals that are used to process and control the game. After each race, the teams must be prepared to provide the software together with the raw signals (e.g. by using an external drive) for spot tests by the Cybathlon organising committee. In case of infringement, the team can be disqualified after the race.

The following criteria apply for the BCI software: -

-

-

Ocular control or control by facial muscles and any other muscular activity is not permitted. Artifact removal is crucial. Teams have to sign in advance to confirm that muscle and eye movement artifacts and other artifacts are removed or otherwise do not affect the command process, or that the classifier is blocked by artifact detection and not misused as commands to control the game. For example, the pilot should not be able to send commands by blinking repeatedly, but should also not be able to prevent commands from being sent by blinking repeatedly. Before the event, teams are required to send a description of the artifact removal procedure and examples of the signals to be checked by external judges who are experts on signal processing. All documents are treated confidentially. Please send the description well in advance to allow enough time for corrections, if necessary. Once artifacts are removed, any signal feature and classification procedure can be used in the BCI as long as it primarily reflects volitional brain activity, not automatic subconscious processes (e.g. alpha blockade). Teams have to send the description of the inference process to be checked by external judges before the race. All documents are treated confidentially.


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-

Using brain signals associated with attempted movements of partially paralysed and non-paralysed limbs, which result in some residual actual movement, are not allowed. The output signal is sent to the race using the standard UDP network protocol. UDP has no concept of acknowledgment, retransmission, or timeout. Therefore, an UDP package may be lost during transmission. A common workaround to reduce the risk of losing packages is to send each package three times in quick succession. Therefore, it is suggested to send each command via UDP three times.

2.3 SPECIFIC RULES BCI-1 BCI-2

BCI-3

BCI-4

It is not allowed to turn the BCI system off during the race. The BCI must be on during the race. Pilots who are intentionally using eye or muscle activity to control the BCI are disqualified. Referees will be somewhat flexible regarding this rule as it is understood that perfect artifact removal is not possible. Pilots that are not able to connect with or send a command to the game in the preparation phase right before the start of the race will not be allowed to start in the race and will be ranked last, i.e. the race is failed for these pilots. In the race, each pilot always sees her/his corresponding avatar (for view angle see Figure 1). It is permitted to remove the background, i.e. change to a black background.

2.4 TASK DESCRIPTION Pilots can send up to three different commands to control the avatar. At least one command is required to control the game. The other two commands can be used or not used depending on the capabilities of the BCI device. A higher number of independently controlled commands increases the chances of winning the race. Each pad in the race has a time frame where an input command must be sent in order to gain an advantage in the race. If the command is sent beyond the time frame, i.e. beyond the dedicated pad, the avatar experiences a disadvantage. The pilots see the pad in advance so that they can anticipate and prepare for the command. Actions

Description

ROTATE/JUMP/SLIDE

As soon as the avatar is on the ROTATE/JUMP/SLIDE pad, the ROTATE/JUMP/SLIDE command should be sent to accelerate the avatar. The ROTATE/JUMP/SLIDE boost lasts until the end of the pad is reached or until another command is received. Thus, a correct action can be aborted by sending an incorrect command, or an incorrect action can be corrected by sending the correct command. The goal is to send the correct command as early as possible after having reached the pad. The earlier it is received, the bigger the time advantage the avatar can get.

NOINPUT

On the NOINPUT pad, no command should be sent to benefit from a higher velocity. If an incorrect command is received, the avatar moves with a lower velocity for a certain duration (or until the next pad is reached).

INCORRECT

Any incorrect command received, i.e. any command on a NOINPUT pad, or incorrect command on an action pad, e.g. a SLIDE command on a ROTATE pad, makes that pilot’s avatar slow down, i.e. the avatar loses time.

Transition to the subsequent pad

Every time the avatar transitions to a subsequent pad, all the commands/actions are cleared. The avatar will travel at the base velocity of the corresponding new pad until a new command is received.


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The order of obstacles appearing along the race is not known to the pilots prior to the race and is different for every race. The total number of obstacles remains constant. Each pad will appear four times, i.e. ROTATE four times, JUMP four times, SLIDE four times and NOINPUT four times (plus the NOINPUT start and finish pad). The current version of the game and a game manual describing the details of the game is available for registered teams and can be used for testing and practicing at the lab sites. Please contact [email protected].

2.5 COMPETITION MODE AND SCORING SYSTEM See section 1.3 and 1.4. Time limit: Race distance:


4 min 500 m (virtual)

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3. FUNCTIONAL ELECTRICAL STIMULATION BIKE RACE

FES Bike Race course for two pilots


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3.1 INTRODUCTION Pilots with complete spinal cord injuries (SCI) are equipped with Functional Electrical Stimulation (FES) devices, which enable them to perform a pedalling movement on a cycling device. They ride five laps of a circular race track which results in a total distance of about 750 m. The pilots build up their muscles by specialised FES training regimes prior to the race. During the race, besides strength, the temporal apportionment of strength also plays a crucial role in minimising muscle fatigue effects. Any stimulation pattern can be applied to any leg muscle, as long as the stimulation technology and pattern are safe. In the race, two pilots start at the same time on a circular race track.


-

Spinal cord injured pilots who have a thoracic or lumbar lesion leading to leg paralysis are included. Most pilots are expected to be in the category of mid-thoracic paraplegia. Higher (cervical) lesions have to be checked individually, whether they can be included in the race or not. Pilots must have sufficient voluntary control of their trunk, arms and neck to steer the bike and stabilise the upper body while riding down a start ramp and turning corners. ASIA A or B, with a complete loss of motor function (http://www.sci-info-pages.com/levels.html). The lower motor neuron has to be intact, thus, the lesion must be spastic (rather than flaccid).

3.2.2 TECHNOLOGY In addition to the general rules described in section 1.2, the following criteria apply for the FES bike technology: -

-

-

-

Only passive cycling devices without actuation are allowed. The only actuation is provided through the FES-stimulated legs of the pilot. The FES stimulator can be commercially available or custom-made. If it is custom-made, it has to fulfil the standard rules for electrical safety, including the latest IEC standards 60601-1 and 60601-2-10 (or similar rules applied in the country of development), which describe particular requirements for the basic safety and essential performance of transcutaneous nerve and muscle stimulators. Any control strategy or stimulation pattern is allowed to stimulate lower extremity muscles such as quadriceps, hamstrings, gluteal and calf muscle groups. It is not necessary to stimulate all these muscles. FES stimulation intensity can be adjusted by the cycling athletes during the race so that they can apply their own strategy to minimise muscle fatigue effects. Surface and implanted stimulation technologies are allowed. The implants must be medically stable for at least six months and free of complications (e.g. infections) prior to the competition. Any number of stimulation channels is allowed. The FES stimulators can apply closed-loop control strategies using sensors applied to the pilots or the bike. It is also allowed to manually trigger the stimulator. The cycling device structure and function is allowed to be optimised for better mechanical efficiency. Any number and any size of wheels are allowed. Maximum width of the cycling device is limited to 900 mm to enable proper use on the ramps and in the lanes. The cycling device must fit on the start ramp above the starting gate (total length 2000 mm). Cycling devices must be able to turn with a radius of approx. 13 m.


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3.3 SPECIFIC RULES FES-1 FES-2

FES-3

FES-4 FES-5 FES-6

FES-7

FES-8

FES-9

Wearing a helmet is mandatory. The teams are required to bring their own helmet. Two pilots start simultaneously, one on the inner and one on the outer lane. The pilot starting on the outer lane is allowed to change to the inner lane after having passed the blue line (see illustration below). Staggered starting positions compensate for the additional distance the pilot starting on the outer lane has to cover in the first curve. If a faster pilot is able to catch up, she or he is allowed to overtake the slower pilot in the outer lane. At least 2 m distance between the two bikes must be cleared before the leading pilot is permitted to switch from the outer lane to the inner lane. In case of disregard of this rule, there is a warning. If a pilot gets stuck in the race (e.g. due to reduced muscle force or malfunction of the stimulator or bike), the race is finished for that pilot. If a pilot crosses the inner line of the inner lane, there is a warning for this pilot. If a pilot takes a shortcut, the race is finished for that pilot will be disqualified from the competition. Hands or arms are allowed to be used to push on the legs to overcome pedalling dead points, but not to support on-going propulsion. Extensive use of hand pushes or any other misuse of hand pushes lead to a warning. The starting lanes for the qualification races are drawn by lot by the organisational committee. Pilots ranked higher after the qualification races have priority to start in the inner lane in the finals. In case of collision of pilots, the race will be finished for the causer of the collision. The other pilot is allowed to go back on the race track (if necessary by the help of race assistants) and continue the race. If a pilot receives three warnings within the same race, the race is finished for that pilot.

3.4 RACE DESCRIPTION The ground of the circular race track has high friction to avoid drifting in the curve. The flexing resistance is low to minimise energy dissipation due to rolling. The start ramp allows the pilots to accelerate. A short gate is used as a starting point prior to the race. While waiting for the start, no part of the bike is allowed to touch the gate and no part is allowed to be beyond the gate. The pilots are asked to use their breaks until the gate lowers. The gate lowers when the race begins.


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Illustration of task setup

Race course: Five laps on the race course correspond to 750 m. At the black-white chequered line, split time of full laps is measured. This line also serves as the finish line. At the blue line, split time of half rounds is measured. After having passed the blue line, the pilot starting on the outer lane is allowed to switch to the inner lane.

Start ramp with starting gate. To initiate the start of the race, the starting gate lowers to allow the pilots to accelerate.

Surface of the race track: hard rubber

3.5 COMPETITION MODE AND SCORING SYSTEM See section 1.3 and 1.4. Time limit: Race distance:

8 min 750 m (5 laps)

Split time is taken every half lap. If pilots have completed the same number of laps within the time limit, due to withdrawal by the pilot, or due to a forced finish of the race by the referee in case of infringement or three warnings, the last split time is considered to rank these pilots.


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4. POWERED ARM PROSTHESIS RACE

Parallel Powered Arm Prosthesis Race course for four pilots (left: start, right: finish)


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4.1 INTRODUCTION Pilots with forearm or upper arm amputations are equipped with exoprosthetic devices (arm prostheses). The pilots are asked to solve as many tasks as possible within a given time limit. The pilots are challenged by tasks related to daily life activities. In some tasks, the pilots are allowed to use both hands and arms, as well as any other part of the body. These tasks include preparing a meal and carrying large objects over stairs (related to e.g. shopping or collecting things from the cellar). In other tasks, pilots are faced with exercises that explicitly challenge the performance of the prostheses, i.e. the technology. In these tasks, the pilots are only allowed to manipulate certain objects or parts of the object with the prosthetic hand. These objects/parts are always coloured blue. Tasks using blue objects/parts of objects include grabbing and carrying small everyday objects from a shelf to a table, a task related to hanging up clothes on a clothing line with clothes pegs, a wire loop task and a puzzle-type task.


Forearm amputation or more proximal amputation of at least one arm.

4.2.2 TECHNOLOGY In addition to the general rules described in section 1.2, the following criteria apply for the powered arm prosthesis technology: -

-

Passive and active prostheses are allowed. The prosthetic device is allowed to have any number of actively driven (powered) joints (e.g. for hand opening/closing or wrist pronation/supination). They can have several passive or mechanically coupled joints (e.g. at the fingers). Any kind of body powered (e.g. cable driven) system is also allowed. Surface or implanted electrode systems can be used to access sensory or motor nerves. Osseointegration is allowed if pilots are in a clinically stable condition and any health risks (e.g. infections) can be excluded. There is no weight limitation for the prosthesis.

4.3 SPECIFIC RULES Arm-1

Arm-2

Arm-3 Arm-4

Arm-5

It is not permitted to use trailers, backpacks, bags, pockets, ropes or similar items or to use the clothes to carry objects of the race course (such as bowls, plates, and bags of the tasks), but it is allowed to use such aids to carry components of the device (batteries, control units, tools, replacement equipment, etc.). Blue objects are only allowed to be manipulated or touched with the prosthesis, i.e. with the prosthetic hand (not including wrist, lower or upper arm). If a pilot uses two prostheses, a blue object is only allowed to be manipulated or touched with one prosthesis at a time. While manipulating or holding a blue object, it is not allowed to physically support or guide the movement with the non-prosthetic arm or hand (or any other part of the body). While manipulating or holding a blue object, it is not allowed to physically change prosthetic hand or finger configurations. However, it is allowed to change a mode of the prosthesis with the non-prosthetic hand, e.g. by pushing a button on the prosthesis. Objects falling on the floor are allowed to be picked up. If an object breaks into pieces, one of the pieces must be used to continue the task.


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Arm-6

Arm-7

It is allowed to grasp objects of the race course that are not blue (e.g. banana) with the prosthetic hand to manipulate blue objects (e.g. to use it as a tool), but not with the nonprosthetic hand. It is allowed to use the handrails.

4.4 TASK DESCRIPTION Each task is described in the following sections.


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4.4.1 PUZZLE (BLUE OBJECTS INCLUDED) 4.4.1.1 Introduction Pilots are asked to complete a puzzle-type task with the arm wearing the prosthesis. The blue handles of the puzzle pieces differ in weight, size and shape to challenge different grips and manipulations. 4.4.1.2 Elements Illustration of task setup

Table with puzzle pieces in the initial positions and table with target frame. Pilot’s eye view; Race direction: right to left


Photo of puzzle pieces: Plate, stick, ball, cord, hook, disk, cone, cylinder, key

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Table of puzzle pieces The blue pieces are fixed to wooden baseplates. Nine wooden baseplates fit into the initial and target frames. Piece Illustration

Colour Material Surface Weight [kg]*

Piece Illustration

Colour Material Surface Weight [kg]*

Plate

blue aluminium slick 0.983

Stick


Ball

blue painted wood slick 0.637

Disk


Hook


Cord

blue synthetic fibre soft 0.470

Key


Cylinder

blue foam rubber soft 0.464

Cone

blue aluminium rough 1.470

Baseplates 240x240x10

* including baseplate (values might vary slightly) 4.4.1.3 Task Rules Arm-Puzzle-1 The puzzle task is solved when all the wooden base plates are placed completely in the target frame. The order and orientation of the pieces is not relevant. It is not allowed to stack pieces, i.e. the base plates need to be placed next to each other to fit perfectly in the target frame. Arm-Puzzle-2 Only the blue parts of the objects are allowed to be grasped. It is not allowed to grasp, push or pull the wooden base plates of the puzzle pieces to move or position the pieces. Cybathlon Races & Rules

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4.4.2 WIRE LOOP (BLUE OBJECTS INCLUDED) 4.4.2.1 Introduction In the wire loop task, pilots hold a conductive wire loop with a blue handle with which a metal wire needs to be followed without touching the wire with the loop by using the prosthetic arm only. 4.4.2.2 Elements Illustration of task setup

Swiss Tools PB 1200.125 BL 10 Wire loop with handle (standard file/screwdriver handle) at the starting position.

Dimensions of the handle. A lamp integrated in the handle indicates when the wire is touched by the loop.

Start

Finish

Stainless steel tube Ø 12 mm. Radii of small corners: inner radius 30 mm, outer radius 42 mm The non-conductive sectors on both ends are indicated in grey.

4.4.2.3 Task Rules Arm-Wire-1 The task must be started and finished in a non-conductive region (start point and finish point), where pilots grasp and drop the loop respectively. Arm-Wire-2 The blue handle of the wire loop is shaped to grip it with a power grip, but any other grip is also allowed. Arm-Wire-3 If there is contact between the loop and the wire, the task is failed (and cannot be repeated). Arm-Wire-4 The wire loop task can be accessed from either the right hand or left hand side, depending on the preference of the pilot. Arm-Wire-5 While the loop is in the non-conductive area at the start of the wire, it is allowed to grasp the handle or loop with the non-prosthetic hand in order to support positioning the blue handle in the prosthetic hand.


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4.4.3 SHELF AND TRAY (BLUE OBJECTS INCLUDED ) 4.4.3.1 Introduction In the shelf task, various elements (mostly blue elements) are required to prepare a breakfast table. They are taken off a shelf, put onto a tray (optional) and carried over a ramp through to a table, where they have to be unloaded. The closed door must be opened. Furthermore, a blue lightbulb needs to be screwed in to a table lamp. 4.4.3.2 Elements Illustration of task setup

Shelf with two drawers, tray, ramp with door (initially closed) and table with lamp. Door handle height: 1050mm; handrail height: 1000mm Apple, banana

Box with lightbulb, cereal keeper

One plate One tea spoon, one knife, one fork, one tablespoon One bowl, one coffee cup Dimensions of shelf


Starting position of objects (drawers will be initially closed)

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Table of objects to manipulate # Object

Photo

Colour Material

Weight [kg]

Size [mm]

Brand/Link Model

1 Tray

white plastic

0.500

l: 520 w: 350

1 Banana

yellow plastic

0.057

l: 200

dekomarkt.ch -

1 Apple

red-yellow plastic

0.053

Ø: 70

dekomarkt.ch -

1 Cereal storage box

white-purple plastic

0.196

w: 170 l: 70 h:195

COOP (closed, locked)

1 Bowl

blue ceramic

0.400

Ø: 160 h: 70

IKEA FÄRGRIK

1 Plate

blue ceramic

0.700

Ø 270

IKEA FÄRGRIK

1 Coffee cup

blue ceramic

0.300

h: 110

IKEA FÄRGRIK

1 Fork

blue metal

0.047

l: 190

0.079

l: 210

0.054

l: 190

IKEA DRAGON IKEA SMÄCKER

0.021

l: 130

1 Knife 1 Tablespoon 1 Teaspoon

Cutlery is placed in this cutlery organizer in the drawer

IKEA SMULA

1 Lightbulb

blue plastic-metal

0.055

Ø: 60 h: 110

IKEA LEDARE

1 Tuck-in flap box for lightbulb

white cardboard

0.136

l: 60 w: 60 h: 120

boxshop24.com -

1 Table lamp

white-grey plastic-metal

-

h: 490

IKEA KROBY


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4.4.3.3 Task Rules Arm-Shelf-1 The order and the number of objects put onto the tray are not restricted, i.e. it is permitted to carry multiple or single objects (in any order) to the table and walk only once or several times between the shelf and the table, using the tray or not. Arm-Shelf-2 If the blue lightbulb breaks into pieces, the task is failed. Arm-Shelf-3 The task is solved if all objects (including the tray) are carried over the ramp, through the door to the table and placed on it, and if the blue lightbulb is screwed in to the lamp and turned on. Arm-Shelf-4 If an object has fallen off the table when passing the start line of the next task, the task is failed. Arm-Shelf-5 The door, that is initially closed, needs to be opened to pass (once or several times), and it must be closed before passing the finish line. Arm-Shelf-6 If a drawer is pulled off the shelf or the cutlery organiser is pulled out of the drawer, the task is failed. Arm-Shelf-7 It is allowed to grasp the tray with both hands to transport objects, including the blue objects. It is also allowed to grasp the cardboard box with either hand to transport the blue lightbulb. 4.4.3.4 Comments In the initial position, the tray is leaned on the side wall of the shelves. The blue tea spoon, blue knife, blue fork and blue tablespoon are initially placed in closed drawers, which need to be opened. The drawers have a mechanical stopper that could be overridden by pulling hard, which is not allowed. The blue lightbulb is initially placed on the shelf in the closed cardboard box with the blue part of the lightbulb oriented towards the opening of the box. The lamp base plate is fixed on the table. However, the lampshade including the bulb socket can be rotated:

Initial position (top left). The lampshade including the bulb socket can be tilted by approx. 100° (top middle, right). The stem of the lamp can be rotated (bottom left). The lampshade including the bulb socket can be rotated by approx. 350° (bottom middle, bottom right).


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4.4.4 BREAKFAST TABLE 4.4.4.1 Introduction Breakfast must be prepared by cutting bread, unwrapping a sugar cube and opening a bottle, a jam jar and a can. These elements are already placed on a table (a separate table to the table from the shelf and tray task). Thus, in this way, the breakfast table task can be solved independently from the shelf and tray task performed before. 4.4.4.2 Elements Illustration of task setup

Table on the race track

Dimensions of the breakfast table


Initial position of the obstacles on the breakfast table

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Table of objects to manipulate/use # Object

Photo

Colour Material

Weight [kg]

Size [mm]

Brand/Link Model

1 Bread (half loaf)

natural bread

~0.300

l: ~150

-

1 Breadboard

natural wood/bamboo

3.400

l: 450 w: 360 h: 30

IKEA APTITLIG

1 Breadknife

grey-black steel-synthetic

0.254

blade: 230 total: 370

1 Package with a pair of sugar cubes

white sugar-paper

0.008

l: 35 w: 20 h: 10

COOP -

1 Jam jar with lid

glass-white glass-aluminium fastening moment: ~4.0 Nm

0.154

Ø: 85 h: 68 230 cl

agrimarkt.info -

1 Plastic bottle with lid

transparent plastic fastening moment: ~1.2 Nm

0.030

Ø: 600 h: 220 330cl

bottleshop.ch -

IKEA GYNNSAM

cap Ø: 30 1 Can

golden aluminium

0.072

Ø: 100 h: 120

2 Can openers

brown-metal metal-synthetic

0.157

l: 190 w: 45 h: 50

WEST “Sieger”, one for left (black) and one for right (white) hand use

4.4.4.3 Task Rules Arm-Table-1 One slice of bread must be cut with the knife so that it is separated from the bread by falling off the loaf. Half a loaf is provided. A slice of approximately 20 mm of width needs to be cut on the cut side of the bread. Arm-Table-2 The paper of the sugar cube has to be separated completely from the sugar. Arm-Table-3 The lid of the jam jar has to be separated completely from the glass. If the glass breaks into pieces, the task is failed. Arm-Table-4 The lid of the plastic bottle has to be separated completely from the bottle. Arm-Table-5 The can top has to be completely removed from the can by using the can opener for left or for right hand use. Cybathlon Races & Rules

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Arm-Table-6

All objects must be placed on the table, i.e. if an object has fallen off the table when passing the start line of the next task, the task is failed.


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4.4.5 HANG-UP (BLUE OBJECTS INCLUDED) 4.4.5.1 Introduction Clothes that are placed in a clothes hamper and need to be hung-up on a clothes rail by using hangers and clothespins. Moreover, two buttons of a blazer and a zipper of a jacket need to be closed. 4.4.5.2 Elements Illustration of task setup

Clothes hamper and clothes rail placed on the side of uneven terrain (tilted path). Pilot’s eye view; Race direction: right to left.

Dimensions of clothes rail. Hangers are initially hanging and blue clothes pegs are initally clipped on the clothes rail.


Initial placement of the blazer, the shirt and the jacket

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Table of objects to manipulate/use # Object

Photo

1 Clothes hamper

Colour Material Dimensions [mm]

Brand/Link Model

white-black plastic

MIGROS -

h: 600

1 Blazer with two large buttons

fair grey cloth

Zalando -

buttons Ø:23 buttonholes: 21 (stretch)

1 Jacket with zipper

Anthracite cloth

HAKRO No 455

zipper slider graspable part: ~20 target zone for zipper slider above lines indicated in green: ~40

2 Clothes hanger

natural wood w: 430

IKEA RALTA

1 Shirt

brown cloths

HAKRO No 292

2 Clothespin

blue plastic l: 78

-

4.4.5.3 Task Rules Arm-Hang-Up-1 The two buttons of the blazer need to be closed and the blazer hung on the clothes rail using one hanger. The order of buttoning the blazer and hanging the blazer with the hanger on the rail is free.


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Arm-Hang-Up-2 The zipper of the jacket needs to be closed at least to the mark on the jacket and hung on the clothes rail by using one hanger. The order of clothing the zipper and hanging the blazer with the hanger on the rail is free. Arm-Hang-Up-3 The shirt must be fixed with both blue clothespins on the rail. It is permitted to put the shirt over the rail and then fix it with the blue clothespins. Arm-Hang-Up-4 If any object (blazer, jacket, shirt, hanger or blue clothespin) has fallen off the table when passing the start line of the next task, the task is failed.


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4.4.6 CARRY 4.4.6.1 Introduction Bags, parcels and balls must be carried over stairs, referring to daily life tasks such as shopping or fetching belongings from the cellar. The objects to carry are placed on the floor prior to the start of the race and need to be placed in the target area on a table during the race. 4.4.6.2 Elements Illustration of task setup

Obstacles are initially placed in front of stairs. The target table is illustrated in the target area. Handrail height: 1000mm


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Table of objects to carry # Object

Photo

Colour Material

Weight [kg]*

Size [mm]

Brand/Link Model

1 Parcel

white cardboard

3.000

l: 560 w: 400 h: 280

IKEA FJÄLLA (closed, locked, filled with dry material)

1 Bag

black-white plastic

1.000

l: 400 w: 250 h: 470

IKEA KNALLA (closed, locked, filled with dry material)

1 Watering can

yellow plastic

2.000

l: 550 w: 180 h: 350 10 litres

1 Bottle crate with six bottles

green plastic

4.700

l: 300 w: 200 h: 380

1 Soccer ball

pleather

0.420

standard

-

1 American football

brown rubber

0.436

standard

-

MIGROS (filled with dry material) (with four empty bottles and two filled bottles positioned in the middle)

* total weight of object including filling material

4.4.6.3 Task Rules Arm-Carry-1 The task is solved if all objects are carried over the stairs to the table and placed on it. If an object has fallen off the table when passing the finish line of the race, the task is failed. Arm-Carry-2 It is allowed to carry more than one object at the same time. Arm-Carry-3 It is allowed to carry the objects with any part of the body. It is not allowed to throw, kick or push any object on the floor. Arm-Carry-4 Objects falling on the floor are allowed to be picked up.


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4.5 COMPETITION MODE AND SCORING SYSTEM See section 1.3 and 1.4. Time limit:

8 min

Task Puzzle Wire Loop Shelf and Tray Breakfast Hang-up Carry Bags 6 tasks


Points

115 102 130 104 108 101 660 points

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5. POWERED LEG PROSTHESIS RACE

Parallel Powered Leg Prosthesis Race course for four pilots (left: start, right: finish)


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5.1 INTRODUCTION Pilots with transfemoral or knee exarticulation amputations are equipped with exoprosthetic devices (leg prostheses) and are asked to solve as many tasks as possible in a given time. Most tasks represent everyday activities.


Pilots have transfemoral amputations or knee exarticulations. Pilots with transtibial or lower amputations are not included in this competition. More severe cases are not excluded (e.g. transfemoral amputations or knee exarticulations on both legs, hip joint exarticulation).

5.2.2 TECHNOLOGY In addition to the general rules described in section 1.2, the following criteria apply for the powered prosthesis technology: -

Any kind of passive (unpowered or controlled dissipative) or active prostheses are allowed. The prosthetic device can have any number of actively driven, i.e. powered, joints. The residual body parts can also be instrumented and electronically and/or mechanically connected to the prosthesis. Load transfer to the ground via wheels is not allowed. There is no weight limitation. The use of crutches or canes is not permitted.

5.3 SPECIFIC RULES Leg-1 Leg-2

Leg-3 Leg-4 Leg-5

Wearing a helmet is mandatory. The teams are required to bring their own helmet. If any handrails are used to support movement or action or used to keep balance by grasping, pulling, pushing or similar, with any part of the body, the task is failed. Handrails are provided for safety reasons only. Touching the ground on (or beyond) the lines marked in the following illustrations in red with any part of the prosthetic device or body is not allowed. Pilots are not allowed to enter or exit the obstacles in a location marked in red in the following illustrations. It is allowed to touch the prosthesis with the hands or any other part of the body to support movements.



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5.4.1 SOFA 5.4.1.1 Introduction Sitting down and standing up are challenges when wearing a lower-limb prosthesis as joint moments need to be generated to enable getting up and controlled sitting down. 5.4.1.2 Elements Illustration of task setup

Sofa (IKEA, KIVIK)

Line in front of the sofa (1500 mm)

5.4.1.3 Task Rules Leg-Sofa-1 Pilots need to sit down completely, i.e. with the full body weight. Pilots are not asked to touch the backrest with their backs. Each foot must leave the ground once while sitting (either simultaneously or one after each other). After each time standing up, each foot must touch the line in front of the sofa once (either simultaneously or one after each other). Leg-Sofa-2 Use of hands and arms is allowed. Leg-Sofa-3 Pilots need to sit down and stand up five times. 5.4.1.4 Comments The referee is counting correct trials loudly.


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5.4.2 HURDLES 5.4.2.1 Introduction Sometimes, it is necessary to step over objects that are even higher than standard steps or to crouch to pass beneath objects, e.g. when walking in a forest or on a construction site. In this task, the pilots have to go over or beneath hurdles. 5.4.2.2 Elements Illustration of task setup

Dimensions and positions of hurdles. The horizontal bars are not fixed at the poles but just lying on a small horizontal bar.

5.4.2.3 Task Rules Leg-Hurdles-1 The pilot must pass between each pair of two poles. Leg-Hurdles-2 If a pilot knocks down a hurdle (horizontal bar), either by hitting the pole or the horizontal bar, the task is failed. Leg-Hurdles-3 It is not allowed to grasp the hurdle or pole with the hand or steady it with any other part of the body.


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5.4.3 RAMP & DOOR 5.4.3.1 Introduction In this task, pilots have to use ramps and pass through doorways. This requires them to step backwards or sidewards, to open the door, to step forward and finally to close the door. The ramp must be passed in both directions. 5.4.3.2 Elements Illustration of task setup

Ramp and door with normal handle (at height of 1050mm). Handrail height: 1000mm

5.4.3.3 Task Rules Leg-Ramp-1 The ramp must be ascended on the more inclined slope (20°) and descended on the less inclined slope (15°). Leg-Ramp-2 The door needs to be opened, passed through and closed.


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5.4.4 STONES 5.4.4.1 Introduction In certain situations in daily life it is required to accurately control the positioning of the leg, e.g. when entering an escalator or stepping over stones on a cross country path. In this task, the pilot is challenged to walk over stones, where the ability to place the foot on a defined location is tested. 5.4.4.2 Elements Illustration of task setup

Stone route

Stone route and stone dimensions

5.4.4.3 Task Rules Leg-Stones-1 Each stone needs to be stepped on once with one foot. Placing both feet on one stone is not allowed.


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5.4.5 TILTED PATH 5.4.5.1 Introduction In daily life, some paths are tilted perpendicular to the walking direction, e.g. when walking on natural paths or across a field. This task challenges walking with abducted/adducted and pronated/supinated ankle joints, and with control of foot clearance. 5.4.5.2 Elements Illustration of task setup

Tilted path


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5.4.6 STAIRS 5.4.6.1 Introduction Stairs are very common in daily life. People using lower-limb prostheses often have to adapt their gait pattern to ascend or descend stairs, which can lead to non-physiologically natural movements. This task tests how well pilots using lower-limb prostheses overcome stairs and if they allow for a naturally alternating gait – especially when it is needed to carry or even balance objects. 5.4.6.2 Elements Illustration of task setup

Stairs with tables. After having overcome the stairs the first time, objects need to be picked up from the table (right side). Thereafter, the objects need to be brought to the other table (left side) by walking over the stairs a second time. Finally, the pilots need to walk over the stairs again in order to reach the finish line. Race direction: left to right. Handrail height: 1000mm

Table of objects to manipulate # Object

Photo

Colour Material

Weight [kg]

Size [mm]

1 Empty coffee cup with saucer

white ceramic

-

Plate Ø: 110 Cup h: 60 Cup Ø: 45

1 Plate with 3 apples

white ceramic

-

Plate Ø: 210 Apples Ø: ~ 65

Brand/Link Model IKEA VÄRDERA

IKEA FÄRGRIK Apples: www.megasb.ch

5.4.6.3 Task Rules Leg-Stairs-1 Alternating steps (left, right, etc.) are explicitly required. Thus, pilots are not allowed to place two feet on one step. Cybathlon Races & Rules

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Leg-Stairs-2 Leg-Stairs-3 Leg-Stairs-4

Leg-Stairs-5 Leg-Stairs-6

Pilots are not allowed to omit single steps or jump over steps. Thus, each step must be stepped on with one foot. Pilots must walk over the stairs three times (three times up, three times down). After having passed the stairs for the first time, pilots need to pick up the empty coffee cup from a table by grasping the saucer and the apples by grasping the plate. Thereafter, pilots need to walk over the stairs a second time while balancing the objects on the plates, put the objects on the other table, and walk over the stairs a third time. (If the pilot can only use one hand due to impairment, the pilot needs only to carry either the cup with the saucer or the plate with the apples.) If an object (coffee cup, saucer, apple, plate) is dropped, the task is failed. It is only allowed to grasp the saucer and plate, but not the cup or apples. It is only allowed to transport the cup and apples by balancing them on the plates.


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4 min

Task Sofa Hurdles Ramp and Door Stones Tilted Path Stairs 6 tasks


Points

101 102 104 108 115 130 660 points

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6. POWERED EXOSKELETON RACE

Parallel Powered Exoskeleton Race course for four pilots (left: start, right: finish)


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6.1 INTRODUCTION Pilots with complete thoracic or lumbar spinal cord injuries (SCI) are equipped with exoskeletal devices (exoskeletons) and are asked to solve as many tasks as possible within a given time. Most tasks represent activities of daily life.


Pilots with spinal cord injury who have a thoracic or lumbar lesion which leads to leg paraplegia are included. Most pilots are expected to be in the category of mid-thoracic paraplegia. ASIA A or B, with a complete loss of motor function (http://www.sci-info-pages.com/levels.html). The lesions can be spastic or non-spastic. Pilots must have sufficient voluntary control of trunk, arms and neck to keep the trunk and head upright and to use the arms to hold crutches or stabilise the trunk.

6.2.2 TECHNOLOGY In addition to the general rules described in section 1.2 the following criteria apply for the exoskeleton technology: -

Any kind of input device or automated gait intention detection strategy is allowed. Load transfer to the ground via wheels or rolling contact is not allowed. Any type of actuation (other than combustion) is allowed; also passive devices are allowed (e.g. based on passive springs or cables), which can be used to wind up the system and store kinetic energy. The maximum weight of the exoskeletal device (excluding the pilot) is limited to 75 kg. Functional electrical stimulation can be added to hybridise the exoskeleton. Surface and implanted stimulation technologies are allowed. Crutches or canes are allowed. If crutches or canes are being used they must be carried by the pilots during the entire race.

6.3 SPECIFIC RULES Exo-1 Exo-2 Exo-3 Exo-4

Wearing a helmet is mandatory. The teams are required to bring their own helmet. Use of the handrails is allowed. Crutches, if used, must always be carried by the pilot. Touching the ground on (or beyond) the areas marked in the following illustrations in red with any part of the body or device, except the crutches, is not allowed. It is not allowed to perform a swing through gait. At least one leg must always be on the ground when crutches or canes are being used.



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6.4.1 SOFA 6.4.1.1 Introduction Sitting down and standing up is a general challenge when wearing a exoskeletal device as joint moments are necessary for getting up and for controlled sitting down. 6.4.1.2 Elements Illustration of task setup

Sofa (IKEA, KIVIK)

6.4.1.3 Task Rules Exo-Sofa-1 Pilots need to sit down completely, i.e. with the full body weight. Knee and hip need to be flexed accordingly. Pilots are not asked to touch the backrest with their backs. Exo-Sofa-2 Use of hands, arms and crutches is allowed. Exo-Sofa-3 Pilots must sit down and stand up once. 6.4.1.4 Comments The referee will verbally confirm correct execution.


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6.4.2 SLALOM 6.4.2.1 Introduction Often in daily life, it is necessary to walk around static or moving obstacles in order to reach a given destination. In this task, pilots need to perform a slalom course around poles. 6.4.2.2 Elements Illustration of task setup

Slalom. The diameter of the pole is 25mm and of the base 200mm.

6.4.2.3 Task Rules Exo-Slalom-1 It is not allowed to touch a slalom pole or its base. Exo-Slalom-2 Two consecutive poles are considered as a pair. To start the task, the first pair of poles needs to be entered from the left or from the right-hand side. All three pairs of poles need to be passed through once.


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6.4.3 RAMP & DOOR 6.4.3.1 Introduction In this task, the pilots with exoskeletons have to walk over ramps and pass through doorways. This requires them to step backwards or sidewards, to open the door, to step forward and finally to close the door all within a limited space. Moreover, it is tested how well doors with a normal door handle can be opened. Solving the task requires stepping backwards, forwards, and/or sidewards. In this task, the ramp is passed in one direction only. 6.4.3.2 Elements Illustration of task setup

Ramp and door with normal handle (at height of 1050mm) Handrail height: 1000mm

6.4.3.3 Task Rules Exo-Ramp-1 The ramp must be ascended on the more inclined slope (20°) and descended on the less inclined slope (15°). Exo-Ramp-2 The door must be opened, passed through and closed.


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6.4.4 STONES 6.4.4.1 Introduction In certain situations in daily life it is required to accurately control the positioning of the leg (e.g. when entering an escalator or stepping over stones on a cross country path). In this task, the pilot is challenged to walk over stones, where the ability to place the foot in a defined location is tested. 6.4.4.2 Elements Illustration of task setup

Stone route

Stone route dimensions

6.4.4.3 Task Rules Exo-Stones-1 Each stone needs to be stepped on with at least one foot.


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6.4.5 TILTED PATH 6.4.5.1 Introduction In daily life, some paths are tilted perpendicular to the direction of travel. A tilted path is used in order to challenge such a situation. 6.4.5.2 Elements Illustration of task setup

Tilted path


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6.4.6 STAIRS 6.4.6.1 Introduction Stairs are very common in daily life. This task tests how well the exoskeleton supports the action of walking over stairs. 6.4.6.2 Elements Illustration of task setup

Stairs Handrail height: 1000mm

6.4.6.3 Task Rules Exo-Stairs-1 Pilots must walk over the stairs once (once up, once down). Exo-Stairs-2 Pilots are allowed to place two feet on one step. Exo-Stairs-3 Pilots are not allowed to omit single steps or jump over steps. Thus, each step must be stepped on with at least one foot.


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10 min

Task Sofa Slalom Ramp and Door Stones Tilted Path Stairs 6 tasks


Points

101 102 104 108 115 130 660 points

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7. POWERED WHEELCHAIR RACE

Parallel Powered Wheelchair Race course for four pilots (left: start, right: finish)


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7.1 INTRODUCTION Pilots with different disability levels (e.g. tetraplegics, paraplegics, amputees) are equipped with powered wheelchairs and are asked to solve as many tasks as possible in a limited time. Most tasks represent activities of daily life.


-

Pilots who have any kind of lumbar, thoracic or cervical spinal cord injuries (i.e. paraparetic or tetraparetic lesions), bilateral leg amputations or any other severe lesions preventing them from walking movements are accepted. The pilots must be able to operate and steer their wheelchair. Thus, the pilots must have sufficient voluntary control of head, shoulder, hand, finger, tongue and/or voice in order to use an input device.

7.2.2 TECHNOLOGY In addition to the general rules described in section 1.2, the following criteria apply for the powered wheelchair technology: -

-

Both actuated wheelchairs and manual wheelchairs that are powered by an external device are allowed as long as the power is solely produced by the device and not by the pilot. Input (control) devices can include any standard or novel technology such as a hand joystick, head joystick, a sip & puff controller, a tongue drive, headrest switches, a touchpad, a tiller, speech processing methods or any other technology. The maximum weight of the wheelchair (excluding the pilot) is limited to 200 kg. The width of the wheelchair must be less than 900 mm (otherwise it cannot pass many of the obstacles). Backpacks, bags, etc. are not allowed to be attached to powered wheelchairs during the race (essential equipment is accepted, e.g. oxygen, feeds, ventilators). Chest, shoulder, leg, foot and head restraints are allowed.

7.3 SPECIFIC RULES Wheel-1 Wheel-2

Wheel-3 Wheel-4

Wearing a helmet is mandatory. The teams are required to bring their own helmet. If any handrails are used to support movement or action or used to keep balance by grasping, pulling, pushing or similar, with any part of the body, the task is failed. Handrails are provided for safety reasons only. Touching the ground on (or beyond) the areas marked in the following illustrations in red with any part of the wheelchair or body is not allowed. Pilots are not allowed to enter or exit the obstacles in a location marked in red in the following illustrations.



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7.4.1 TABLE 7.4.1.1 Introduction Wheelchair pilots should be able to drive close to a table in such a way that the thighs of the pilot fit below the table top. 7.4.1.2 Elements Illustration of task setup

Table

7.4.1.3 Task Rules Wheel-Table-1 The knees and half of the thighs must be placed beneath the table . It is not permitted to remove the feet from the footrest. Wheel-Table-2 It is not allowed to move or lift the table legs from the base area. 7.4.1.4 Comments The referee will verbally confirm correct execution.


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7.4.2 SLALOM 7.4.2.1 Introduction Often in daily life, it is necessary to drive around static or moving obstacles in order to reach a given destination. In this task, pilots perform a slalom course around poles. 7.4.2.2 Elements Illustration of task setup

Slalom. The diameter of the pole is 25mm and of the base 200mm.

7.4.2.3 Task Rules Wheel-Slalom-1 It is not allowed to touch a slalom pole or its base. Wheel-Slalom-2 Two consecutive poles are considered a pair. To start the task, the first pair of poles needs to be entered from the left or from the right-hand side. All three pairs of poles need to be passed through once.


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7.4.3 RAMP & DOOR 7.4.3.1 Introduction In this task, pilots have to travel over ramps and use a door. They have to use a door with a normal door handle by opening the door, passing through it and closing it in a limited space. This requires them to drive backwards and forwards. The door handle can be used by the arm of the pilot or any technical (robotic) support depending on the severity of the pilot’s lesion. 7.4.3.2 Elements Illustration of task setup

Ramp and door with normal handle (at height of 1050mm) Handrail height: 1000mm

7.4.3.3 Task Rules Wheel-Ramp-1 The ramp must be driven up on the slope with greater inclination (20°) and down on the slope with lesser inclination (15°). Wheel-Ramp-2 The door must be opened by the pilots with or without any technical support. The doorway must then be passed through. Pilots that use their arms to open the door also need to close the door. Pilots that cannot use their arms only need to open (and not close) the door by using a technical support with an input device (e.g. a robotic arm). Thereby, the total energy of positioning the technical support and to open the door must be generated by technical support only and not by the pilot.


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7.4.4 ROUGH TERRAIN 7.4.4.1 Introduction A wheelchair pilot must be able to drive over uneven terrain such as cobblestones. 7.4.4.2 Elements Illustration of task setup

Rough terrain

Rough terrain dimensions

7.4.4.3 Task Rules Wheel-Rough-1 Crossing the boundary on the sides is not allowed (i.e. the pilot can only exit at the start and finish); however, touching the wooden rails placed on each side or the terrain is allowed.


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7.4.5 TILTED PATH 7.4.5.1 Introduction In daily life, some paths are tilted perpendicular to the driving direction. A tilted path is used to challenge the ability to overcome such an obstacle. 7.4.5.2 Elements Illustration of task setup

Tilted path


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7.4.6 STAIRS 7.4.6.1 Introduction Stairs are very common in daily life. In this task, pilots with powered wheelchairs have to travel up and down stairs. 7.4.6.2 Elements Illustration of task setup

Stairs Handrail height: 1000mm

7.4.6.3 Task Rules Wheel-Stairs-1 Pilots must travel over the stairs once (once up, once down).


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8 min

Task Table Slalom Ramp and Door Rough Terrain Tilted Path Stairs 6 tasks


Points

101 102 104 108 115 130 660 points

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Cybathlon Races & Rules

Cybathlon Races & Rules

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