SPECIAL BY

Highlights: What’s new at the Cybathlon 2020? p. 4

Building an exoskeleton in six steps p. 10 Facts & figures

At maxon, we can hardly wait for the Cybathlon to be staged for the second time. As drive specialists, we are not only What? fascinated by the technology used, but also by the whole In the Cybathlon, people with physical idea around the event. We hope that this magazine will inspire disabilities (pilots) compete against each Cybathlon the same enthusiasm in you, dear readers. Happy reading! other in obstacle races – supported by state-of-the-art technical assistance 2020 systems. The event is also intended as a platform for exchange between technology developers, people with disabilities, and the public. The Cybathlon is organized by the Swiss Federal Institute of Technology (ETH). 10 ,000 visitors are expected this year, >1000 compared to 4600 in 2016. helpers will support Cybathlon 2020. 6 When? On May 2 and 3, 2020, the Cybathlon will be staged for the second time. The qualifying heats will be held on the first day and the final races on the second.

Where? 50 trainees from maxon The Cybathlon will be held in the will support Cybathlon with countries will attend the SWISS Arena in Kloten (Switzerland). 28 more than Cybathlon.

Questions for the creator of the 2000 Cybathlon: Which Tickets working hours. technology is falling Day tickets cost 25 or 15 CHF. Entry short of expectations, to the supporting program around the 12 Robert Riener? 96 What you arena is free of charge. need for an starting positions are exoskeleton: 10 available in 2020: The musts, 30 more than the last time. explained by experts. maxon on site Do you have any questions or projects of your own, for which you need Professor our support? Pop over to see us at our >100 Hugh Herr’s stand in the entry area. Cybathlon events have been vision of an 22 teams will be using maxon held in 11 countries since 2015. era of super- Legal & contact

Behrendt und Rausch Behrendt products (as of December 2019).

10 Della Bella Alessandro /

heroes. information / Publisher: maxon Group cybathlon.ethz.ch Editorial team: Stefan Roschi, Alessandra Keiser, Katharina Rilling (Studio Edit) Project manager: Katharina Rilling Design: Peter Kruppa (Creative Director, Studio Edit) Stefan Schneller; KMK 16 Proofreading: Franz Scherer / Print: Druckerei Odermatt AG About the cover: 2013 Review: Languages: German, English Print run: 2,000 (Ger.), 4,000 (Eng.) Michel Fornasier is a >500 Emotions ran was when the Cybathlon was /Nicola Pitaro high at Cybathlon prosthesis user and dreamed up by its initiator, stories worldwide covered four years ago. Copyright: © 2020 by maxon Group, Cybathlon ambassador. Sachseln. Reprint or reproduction only ETH professor Robert Riener. Cybathlon in 2016. More with express written permission. In the guise of his than 4500 video features and alter ego, Bionicman, 50 scientific articles were 3 Cybathlon statistics he also advocates produced. 4 News and challenges:

for more tolerance and Della Bella /Alessandro Everything about the 6 disciplines Follow us fights against bullying. 20 Where maxon can be found: A tribute to our teams More exciting news, stories and blogs from the field of drive 23 Time for a rematch: technology can be found at: bionicman-official.com Photos: maxon motor ag, James Duncan Davidson CC BY-NC 2.0, ETH Zurich Photos: maxon motor ag, James Duncan Davidson CC BY-NC The stair-climbing Scewo wheelchair is back. www.drive.tech Photos: ETH Zürich #movingpeopleandtechnology

2 3 Competition Competition

2

3

Everything4

about5 the disciplines

1 The virtual race is 500 virtual meters long 6 6 2 1 6 5 Discipline Powered 3 Discipline Functional wheelchair race Brain-computer electrical stimulation 4 Powered Up to four pilots compete against each other interface (BCI) race (FES) bike race exoskeleton race simultaneously on parallel tracks to solve six tasks. Motorized wheelchairs that are controlled by The pilots use nothing but their minds to control A bike race for people with paralyzed legs. A race in which up to four pilots with motorized a joystick, tongue-drive, touchpad or other avatars in a computer game. To do this, they Riders’ leg muscles are stimulated by attached support apparatuses compete against each other technology are allowed in this race. wear brain-computer interfaces that can read or implanted electrodes, instead of by their Powered arm simultaneously to master everyday tasks. their brain activity and turn it into commands. own nerves. This enables them to press on a prosthesis race Pilots: Pilots with severe walking impediments bike pedal. Powered leg Pilots: Paraplegic people wearing an exoskeleton. in motorized wheelchairs. Pilots: People who are paralyzed from Up to four pilots on parallel tracks compete prosthesis race Challenge: Everyday activities, such as over- Challenge: Maneuvering wheelchairs in very the neck down. Pilots: Paraplegics – the lower limbs and against each other simultaneously to solve coming obstacles (stairs, ramps, slopes) or getting confined spaces on a range of different surfaces Challenge: Transmitting the right thoughts parts of the torso are paralyzed. six tasks for arm prostheses. Up to four pilots on parallel tracks compete up from the sofa. The race also tests pilots’ (e.g. rough terrain, slopes, and stairs) at the right time. Incorrect signals make the Challenge: Stimulating the muscles in such against each other simultaneously to solve six tasks navigation in very confined spaces (e.g. doorways). Winner: The pilot that solves the most tasks avatar slow down. a way that pilots achieve a high speed on the Pilots: People with an arm prosthesis for leg prostheses. Winner: The pilot that solves the most tasks in the least amount of time.

Winner: The first avatar to cross the finish line. bike without becoming fatigued. The pilots (including artificial wrist) on one or both sides. in the least amount of time. Purpose: Development of innovative solutions for Explanation of the discipline Purpose: Development of innovative solutions as a Explanation of the discipline Time limit: 4 minutes control the power supply themselves and have Challenge: The race tests fine motor skills, Pilots: People with a leg prosthesis on one or both everyday challenges facing wheelchair users. Purpose: Further development of the technology to pace themselves. multiple types of grips, strength, and the sides. The prosthesis must replace the knee joint. supplement to wheelchairs. Exoskeletons are still Motorized wheelchairs can make everyday life for controlling computers and wheelchairs Winner: The rider to cross the finish line first. coordination of both hands, e.g. when Challenge: Skills such as getting up from the sofa mainly used for physiotherapy in hospitals. They much easier. However, it is important that they can through mind power. Purpose: People whose nerve tracts between cutting bread, hanging up washing, or screwing and conquering stairs, ramps, and slopes. dramatically expand the mobility spectrum of people overcome obstacles such as ramps while not being the brain and leg muscles have been disrupted in a light bulb. Precise steps and balance are needed when with paraplegia. This has a positive effect on their too big to be placed at a normal table, for example. due to a spinal cord injury can use an intelligent Winner: The pilot that solves the most tasks navigating over rough terrain. overall physical and psychological health. control device to initiate movement. Development in the least amount of time. Winner: The pilot that solves the most tasks of new types of electrodes and a precise control Purpose: Development of innovative solutions in the least amount of time. mechanism, so that force can be maximized and (including with sensory feedback) for everyday Purpose: Development of innovative solutions for early muscle fatigue avoided. challenges facing people with arm prostheses. people who use leg prostheses that enable them to

Impressions walk as naturally and symmetrically as possible. Impressions

Pilots must react to a changing environment (switch on headlights). There is also the challenge During the “Ramp & Door” task, the door must be of deliberately sending no signals at all in certain The pilots now also need to perform tasks with opened and shut using a technical aid with an sections of the game. their hands. To do this, they must be able to keep external energy source (e.g. robotic arm). Six their balance without crutches. The rough terrain instead of three steps must be conquered on both Alessandro Della Bella Alessandro

“The algorithms have improved greatly. We / is also a new challenge, as they cannot put their sides in the “Stairs” task. In addition, the wheelchair want this to be visible for the spectators 1200 meters (8 laps) race distance instead of Objects must be identified by touch in the feet flat on the ground. must be brought to a standstill when descending, as well, which is why there are new, more 750 meters (5 laps) – still in 8 minutes. “haptic box” using the prosthesis. During each task, the pilots must concentrate on to demonstrate control.

appealing graphics. This year, the pilots Nicola Pitaro a secondary activity (e.g. carrying a bottle crate). “The race has only been slightly changed, / New in 2020 compete in a virtual car race, which takes “We have increased the distance from five to “The crucial question is: How well will as both the winner and the runner-up “As a new challenge, pilots must open and New in 2020 place over four floors.” eight laps, as there are now new techniques the pilots cope with the haptic box? “This race has become harder too, as pilots missed an obstacle in 2016. I hope that close a door without using their own hands. for stimulating pilots’ muscles for a longer In general, more dexterity is needed now have to carry wobbly objects, and therefore many teams will manage all obstacles this I look forward to seeing how the teams will Robert Riener period. Now we simply hope that enough than four years ago, which will make for balance more. This requires them to walk as time. And I expect their times to be a lot cope with that. We have also made the

Cybathlon initiator participants make it over the finish line.” interesting races.” Photos: ETH Zurich naturally as possible.” quicker than last time.” stairs higher.”

4 5 Interview Interview

I want« to take Robert Riener is the initiator of the Cybathlon and is also involved in its second installment. He reveals the new challenges awaiting the teams and how you can also use technology to address outCybathlon into the wider world sensitive issues. Robert Riener, when you think back to the OK and giving interviews. At the same time, I know first Cybathlon four years ago, what’s the that everything worked well the last time, and the first thing that comes to mind? team is incredibly well prepared. So maybe I can sit » The many emotions that I experienced! The public back and relax a little bit more. We’ll see. created a fantastic mood in the stadium, and the pilots and their teams really gave their all. It was a great This time, Cybathlon is taking place across event all round, in a way that we hadn’t dared to hope. two days, with the same six disciplines. What will be different for the pilots? Was there an immediate incentive to We had to change all the disciplines a bit and make carry on with the event? them harder, because the technology has improved in Yes, definitely. It had worked well across the board, the last 4 years. The races should remain exciting, after from the logistics through to the fundraising. We all. We’ve used the Cybathlon Series and Experiences absolutely wanted to build upon the momentum that to test new tasks and adapt them where necessary. we had created with the Cybathlon. For this reason, One interesting new element in the arm prosthesis ETH quickly decided to hold the event again, and to race, for example, is that the pilots have to identify bridge the time until then with smaller events – objects by their feel. Cybathlon Series and Experiences (see next page). By their feel using a hand prosthesis? You are president of the strategic board Isn’t that quite far removed from reality? and responsible for the team of organizers. Absolutely not. We can’t successfully perform motor Will you nevertheless be able to relax and tasks without being able to feel what we are doing. enjoy the 2020 event? This means that each muscle also needs sensory infor- Things will probably go similarly to 2016 for me. In mation. There are pilots who have already tested other words, I won’t be sitting in the stands very often, this to good effect with their modern prostheses. They but will be making sure that everything is either use a feedback mechanism in their prosthesis, or have a good socket, via which they can feel the transmission of force.

How does this work? The latest developments allow us to measure contact About Robert Riener forces between the prosthetic hand and the object that Robert Riener is Full Professor for has been touched. This information is then commu- Sensory-Motor Systems at ETH Zurich and Professor for Rehabilita- nicated directly to the user via vibrotactile stimulators tion Robotics at Balgrist University placed on the residual limb or through implanted Hospital. He is considered one of nerve stimulation. The natural transmission of force the leading researchers in via the prosthetic stump is simpler. The user can feel rehabilitation robotics. These include motorized prostheses and indirectly whether the object being touched is hard exoskeletons that support people or soft, for example. It’s like scanning an object with a

Photo: © Gerry Nitsch with mobility restrictions. stick.

6 7 Interview Inclusion

What is your favorite Cybathlon discipline? What needs to get better with regard Exoskeletons and wheelchairs are fascinating because to electric motors? “The Cybathlon is all about people with disabilities – not an they have the most complicated technology. But the If their performance is improved, that is always a good People with disabilities easy subject in our society. I’ve noticed again and again that most exciting disciplines to watch are the bike races thing. But it’s even more important to reduce noise there are barriers between people with and without disabilities, with their overtaking maneuvers and the uncertainty emission. This is still an annoying aspect of some appli- are only disabled if a lot of anxieties and taboos. This is why it’s important to con- as to whether the pilots will make it over the finish cations today. Or else you persuade people to perceive front this and create awareness of people with disabilities. Our line in the allowed time. these noises as normal, which would also be a possibility. they come up against aim in holding the Cybathlon is not only to move the technolo- gy forward, but also to shed direct light on this subject and At first glance, the assistance systems What’s in store next after Cybathlon 2020? the insurmountable. indirectly remove fear of contact. appear not to have changed much since There will be more Experiences and Series, as well as How can we arouse interest in this subject and even draw the last Cybathlon. In your view, which Cybathlon @school, where people with disabilities But where do the people to Kloten, where the event is held, and capture their technology is falling short of expectations? will present the current assistance systems technology, imagination? With robotics and cool technology. This is how Exoskeletons are still relatively slow. They could be thereby helping to reduce the fears and anxieties that obstacles in our we get people better acquainted with the subject of disability quicker if developers were to make more use of the children experience when they come into contact in an entertaining but dignified way. But we can be under no principle of elastic energy conservation and ballistics – with people with disabilities. And of course there will everyday lives come illusion: you need a lot of events like this and plenty of patience similarly to the interplay between people’s tendons, be another main event in four years: either in Zurich until you achieve a visible effect in society as regards including muscles, and joints. again or in Singapore, where there is an ETH depart- from? From barriers people with disabilities. ment. I would love that, as I want to take Cybathlon However, one of the early successes of the Cybathlon is Can you simulate tendons? out into the wider world. in our minds, says certainly the increased exchange between users and develop- Tendons behave like very rigid rubber bands. With ers of assistance systems. All the teams involve the pilots and every step, they can store kinetic energy and release it Cybathlon founder medical practitioners in the development phase. Of course, the again at the right moment. This reduces the work focus is at first on developing high tech, and the researchers of the muscles and can be imitated through a sophisti- Robert Riener. try out a lot of things in the competition. But the wishes and cated interplay between elastic springs and motors. needs of people with disabilities are taken into account. As a As a result, you can save energy and significantly ex- result, the technology is developed quicker, and in a more tar- tend the life of the battery. I believe that this will come geted way. After all, the systems have to be useful in people’s in the next few years. By then, there will also be more everyday lives. And we also shouldn’t forget that the craziest prostheses that can feel. The potential within robotics technology could well be established and affordable in twenty is huge. We simply need more time and more effort. years’ time. Cybathlon Series are events aimed at promoting scientific Incidentally, large prosthesis manufacturers have launched exchange worldwide. Races are organized for this purpose, with products earlier as a result of the experience that they gath- one of the six disciplines taking center stage at each race in the Series. Universities can act as hosts, present their areas of ered at the Cybathlon. And new start-ups have appeared, focus, and organize a scientific symposium. The symposium which are now selling stair-climbing wheelchairs. We have also serves as an international platform to promote technological brought on board various organizations for people with disabil- progress in the research, development, and implementation of ities to provide us with specialist advice. assistance systems. What we need even more is for people with and without Cybathlon Experiences are smaller events held at trade fairs, disabilities to communicate with each other. People with dis- conferences, and festivals during the run-up to the Cybathlon. abilities are only disabled if they come up against the insur- They encourage the exchange of ideas and information between mountable. There are not only physical barriers to overcome, people with disabilities, technology developers, and the public. At hands-on demos, visitors have the opportunity to try out such as when traveling by train or going shopping. Barriers in modern assistance systems. people’s minds result in people with disabilities often being overlooked or even ignored in the public sphere. The Cybathlon @school program offers teachers teaching We must increase acceptance of diversity, in general. Too modules for various subjects: initially for sports and biology, although modules for mathematics, computer science, physics, many people still take the attitude that a disability should be ethics, economics, and law are also planned. In a sports lesson, regarded as an illness. And we all have our limitations in some for example, students can experience what it’s like to run areas – in my case it’s ball sports, for example. But seriously: using a leg prosthesis, carry out tasks with an arm prosthesis, everybody has different strengths and weaknesses and that’s or complete an obstacle course in a wheelchair. The module Taking care of is accompanied by a person with a disability who actively fine. I hope that one day, it will no longer be an issue whether everything and participates in the lessons and uses his/her experience to support somebody has a disability or not, because there will no longer Alessandro Della Bella Alessandro giving interviews: the students in solving the everyday tasks. Cybathlon @school / be any barriers – neither in our surroundings nor in our heads.” Robert Riener is organized with partners PluSport and mint & pepper. will have his hands full again In preparation for Cybathlon 2020, all Series and Experience

this year. events have already taken place. Photo: ETH Zurich

8 9 Insight Insight

How to build an exoskeleton Pilot and experience “This is arguably the most important point. How well an exoskele- An exoskeleton must be lightweight, compact, powerful, reliable, and easy to ton works in practice depends primarily on the pilot, who must use – what could be easier? Many developers around the world dabble in get used to the robotic assistance and learn how to use it to best this discipline with different degrees of success. Christian Bermes, head of the effect. Some people rely more on strength, others more on technique. Either way, it requires a huge amount of training.” VariLeg enhanced team explains what it all comes down to. Degrees of freedom “How many degrees of freedom should there be? That’s a tricky Christian Bermes, question. Exoskeleton designers often opt for two degrees of The winning exoskeleton Team Leader, VariLeg enhanced / Professor for Automation and Mechatronics, freedom per leg, so only the hip and the knee move. The benefits at Cybathlon 2016 HSR University of Applied Sciences, Rapperswil of this are: less weight, a simpler control system, and therefore In 2016, the ReWalk team fewer sources of error. However, it is possible to have three or took first place in the four degrees of freedom. This means that you can have lateral powered exoskeleton race. movement, for example, or additionally actuate the ankle. This The team used four maxon gives the pilot extra freedom of movement and increased stability brushed DC motors for their Mechanics Lateral actuator on uneven ground. On the other hand, this makes the entire system’s knee and hip “Emulating the human gait with mechatronic systems is a huge system heavier and more complex, and also decreases the movements. The RE 40 units maxon motors with twice engineering challenge. The structure that supports the person must battery life.” are used in combination with the power: new exoskeleton be as light as possible yet also robust, as every additional kilogram a GP 42 C planetary gear- from VariLeg enhanced has an impact on the drive systems. For this reason, lightweight head, which is equipped Hip actuator materials such as carbon are often used. It is also important that the with ceramic components. The VariLeg enhanced team is exoskeleton is not too broad, as the pilot must be able to pass developing and building an through any door without difficulty.” Software exoskeleton for the Cybathlon 2020. However, the ongoing “At first glance, controlling fewer degrees of freedom seems project has little to do with the simple. However, when you get down to the detail, the implemen- VariLeg team from ETH Zurich tation is rather more complex. This is because many different that took part in 2016. The Drives movements must be controlled and accidents prevented by current exoskeleton was recently safety features. In addition, the entire exoskeleton should be developed as a student project. “The drive systems, consisting of a motor and gearhead, must deliver developed further in cooperation with the pilot. This can only be A mixed team from ETH Zurich high torque. Enormous forces are at work, especially when walking achieved with a viable software architecture.” and the HSR University of up and down stairs. At the same time, a high level of dynamics is required, as the motors must constantly change the direction of Applied Sciences Rapperswil is million people worldwide rotation due to the walking movement. The final item on the wish list Knee actuator now working on the completion are estimated to use a is a compact design that takes up as little space as possible.” of the robotic system. The 185wheelchair. For many of system has two degrees of them, exoskeletons may freedom. There are two brush- be a useful addition. less flat motors from maxon on each side to move the hips and knees. These deliver up User interface to 600 W of power. “The pilots need to have complete control over their locomotion, so the movement controls must be easily accessible and intuitively designed. Furthermore, to ensure that the interface reliably transmits the large forces Otto Ineichen Business Development at play while also protecting the sensitive skin of the pilot, it must be Medical, maxon individually adjusted to the pilot’s legs and torso.”

“Above all else, drives for exoskeletons must be lightweight. And a low overall height Nicola Pitaro, Team VariLeg enhanced, maxon Group VariLeg Team Nicola Pitaro,

/ is also important. At the same time, however, high power density and dynamics are The first attempt to build a modern exoskeleton was by required, as the motors must change the direction of rotation frequently and very quickly. EC flat 90 motor General Electric in 1965 with the “Hardiman,” which was At maxon, we are currently developing a new product platform of motors specially intended to enable its wearer to lift loads of up to 680 kg. Ankle actuator designed to meet the needs of the robotics market. These new drives are based on the More information on the team The project failed because the prototype could not be EC-i frameless concept. They can then be combined with suitable gearheads, Infographic / Illustrations: Peter Kruppa Photos: ETH Zurich can be found on page 20. controlled or used. 1965 depending on the application and requirements.”

10 11 Profile Profile

Personal biography Hugh Herr is an American « 17, he and a fellow climber were caught in a blizzard researcher in the field of bio mechatronics and an extreme near the summit of Mount Washington. Trapped by mountaineer. The professor ice, wind, and snow, the two young men survived for is the Director of the Media Lab three days before they were discovered quite by acci- and the Center for Extreme Bionics I have a at the Massachusetts Institute dent. Although Herr’s life was saved, his legs were not. of Technology (MIT) in Boston. Exposed to temperatures of minus 30 degrees, he was Herr combines biology and severely frostbitten and both legs had to be amputated mechatronics to develop bionic just below the knee. prostheses. He has published more than 60 research papers and dream Better off without legs been awarded over 30 patents for prostheses and assistive devices. Remarkably, Herr – now in his mid-50’s – does not In 2007, he founded the MIT consider these events as a calamity but as a “wonderful spin-off iWalk (since renamed opportunity.” Indeed he owes his current life mission BionX Medical Technologies, Inc.) to market his inventions. Herr’s and career entirely to those fateful events. The attitude research has been recognized that, rather than him being disabled, it was the available with a host of awards. He is also a technology that was inadequate became the driving Cybathlon ambassador. force in his life. He took on a new challenge: to devel- op the best possible assistance systems, so that people with amputated limbs could live without mobility re- strictions. Only twelve months after his lower legs had been am- made it to MIT professor,” he jokes at speaking events. putated, Hugh Herr was back in the mountains again One thing is certain, it is only because of those fate- on prosthetic limbs that he had optimized himself ful days trapped by a blizzard on a mountain top that – and was more than able to hold his own with his Hugh Herr is now a professor combining mechatronics climbing companions. This was because, unlike them, with biology to develop the best prostheses – and as a he could now vary the length of his new legs by tele- popular speaker at conferences and guest in TV stu- scopically extending or retracting them, and he also dios has become a superstar of this bionic era. developed various special attachments for use as “feet”. When he was Herr began studying mechanical engineering, ob- From bionic man to cyborg seventeen, Hugh Herr lost tained a PhD in biophysics from Harvard University, Hugh Herr owes his ability to freely walk, run and both his legs. and is now a director of the Media Lab and the Center jump not to organic bones, tendons and muscles but Today he is for Extreme Bionics at MIT. “Before my legs were am- to 24 sensors, six microprocessors, and muscular ten- developing the putated, I was a terrible student. Afterward I suddenly don-style actuators. “Basically, I’m a bunch of nuts and next generation of prosthetic limbs with cyborg functionality. From wood to high-tech: One of the most History of prosthetic devices famous prosthesis He created high-tech, power-driven» legs and foresees users from Antiquity a world free from disability: How MIT professor was the wealthy th th Roman general Marcus Hugh Herr became a superstar of the bionic era. 9 – 6 Century B.C. Sergius Silus. When he lost his hand in the Second Punic War, he had an artificial iron A big toe made th replacement made, “O of leather and Century B.C. with which he was nce you have tasted flight, you will forev- astonishing vision. He too constantly directs his gaze wood: The oldest 5 able to hold his er walk the earth with your eyes turned sky- up toward the distant horizon, the summits. This be- surviving artificial The Greek historian Herodotus mentions shield again. ward, for there you have been, and there you came clear early on. A high-flyer, he was considered body part comes a man called Hegesistratus, who is from Egypt. It reported to have amputated his will always long to return.” Professor Hugh Herr one of the best mountain climbers of his generation in helped its wealthy manacled lower leg while a prisoner of likes to quote Leonardo da Vinci when talking about the USA. And it also ties in with his career, which be- owner conceal her the Spartans. He was subsequently th his personal story or research, or when explaining his gan with a devastating experience, when at the age of Chappell Photography; Steve Jurvetson/CC BY 2.0; University of Basel, Life Histories Photos: Webb (LHTT)/Matjaž Kačičnik; CC BY-NC-SA/Münzkabinett Project Theban Tombs How we’ll become cyborgs and extend human potential, TedTalk Hugh Herr’s Sources: ohne Behinderungen von einer Welt / Der Traum NZZ: Die Geschichte der Prothesen disfigurement. provided with a wooden prosthetic foot. 3 Century B.C.

12 13 Profile Profile

bolts from the knee downwards. I’m a bionic man,” he “Humanity will end of course raise major ethical issues, as things that ex- “A few years ago, my good friend Jim Ewing reached out jokes. “But I’m not yet a cyborg.” And it is precisely this disability in this 21st cite and enthuse some people cause deep uneasiness in to me for help. Jim had a climbing accident in the Cayman distinction that spurs him on. If Hugh thinks about others. For example, will people be able to voluntarily Islands, where he fell 15 meters. After his accident, he moving his legs now, neural signals pass through his century.” trade in their own legs for prostheses so that they can dreamed of returning to climbing. But how? Our answer was nerves and activate the muscles in his residual limbs. perform better? Or will they even be obliged to? to put together a team of surgeons, scientists and engineers Sensitive electrodes pick up these signals, and mini- Hugh Herr continues to dream, for example, of us at MIT. Jim’s severely damaged leg was amputated using computers in the bionic leg then translate the nerve Hugh Herr equipped with artificial wings, feeling each wing move- the AMI surgical procedure. The neural link between Jim’s impulses into movements. In other words, when Hugh ment as if we had been born to it: “In the 21st century, ankle-foot muscles and his brain was reestablished. We Herr thinks about moving, the command is communi- humans will become superheroes.” connected Jim’s muscles, via electrodes, to a bionic leg. cated to the prosthetic part of his body. However, the What then occurred was remarkable: Jim signals cannot flow the other way round, i.e. from the was able to move completely naturally limbs to his nervous system. If he touches or moves and automatically, for example when his bionic limbs, he does not experience any normal motors in the artificial limb according to the signals going up and down stairs. Today, Jim sensations. “But if I were a genuine cyborg, I’d be able received. If the agonist contracts after being electrically moves as if the prosthesis were part of to feel my legs. They would be a part of me.” activated, the antagonist will extend. This interaction him. For example, one day in the lab, he causes biological sensors in the muscle to send infor- accidentally stepped on a roll of insulating With your eyes closed mation about the length of the muscle tendon, and the tape. Normally, you wouldn’t bend down One of the main problems with a conventional pros- relative speed and force of the muscle to the central to reach it – that would be far too awk- thesis is that it cannot send information regarding its nervous system. As a result, the position and move- “As if he had his leg back” ward. Instead, you shake it off, and that’s spatial location back to the nervous system. This means ment of the prosthesis and the forces on the limbs can that the person concerned cannot sense the position of actually be felt (see also the box on p. 15). Hugh Herr commenting on a case exactly what Jim did after being neurally the prosthesis without looking at it. In order to carry where his new amputation procedure connected to the leg for just a few hours. out a movement or position the leg, interactions of Dragon people and superpowers was used successfully. What was most interesting to me is what counteracting muscles are always necessary. The “ago- For Hugh Herr, turning prosthesis users into cyborgs Jim told us he was experiencing. He didn’t nist” muscle carries out a movement, while the “antag- who can feel their prosthetic limbs and who can climb feel like a cyborg. He felt like he had his leg back. And so onist” muscle is responsible for the return movement better and run faster than other people is not enough: he returned to the Cayman Islands to start climbing again as in the opposite direction. “Humanity will end disability in the 21st century. But a cyborg – the first cyborg climber in history.” For this reason, Hugh Herr and his team have devel- I also believe that our technology will extend beyond oped a new “agonist antagonist myoneural interface” limb replacement and will fundamentally redefine hu- (“AMI”) procedure for amputations. This requires the man potential.” He predicts that nervous systems will surgeon to connect the opposing muscles with each be merged with powerful exoskeletons that humans other and the nerves of the residual limbs with an ex- can feel and control with their minds. He can see how ternal, bionic prosthesis. Electrodes, which transmit muscles will be remodeled, making people stronger signals to small computers in the bionic prosthesis, and faster. He foresees people who will be almost un- are placed on the muscles. The computers then control recognizable compared to how we are today. This will

As warfare becomes industrialized, prostheses Bionic prostheses that Professionally crafted are refined and produced in greater numbers. can be controlled by th prostheses arrive on The American Civil War (1861–1865) sees the user’s mind are Middle 16 Century the scene, for example some 60,000 people undergo amputations – developed. Electrodes The high-tech those created by leading to prostheses becoming more th transfer muscle prostheses of the Ages French surgeon Berlin-based surgical engineer comfortable and affordable. Century impulses to electric 21st century are Ambroise Paré. Paré Peter Baliff develops a prosthetic 20 motors. The goal is by no means the 1861 Lepers with crippled This “Florentine introduces new 1812 arm that can be moved via A variety of prosthe- to directly connect last word. In stem limbs are an everyday hand” from the techniques, such as pulleys at the elbow and ses for all parts of prostheses to the cell research, sight. They often second half of the the ligature of injured shoulder. It is the first prosthesis the body come onto user’s own nervous studies are in have to get by with 15th century is blood vessels, and that can be moved without the market: bone system, so that they progress on Future crude wooden the oldest known creates elaborate assistance from the healthy hand 1916 implants, metallic can, for example, prosthetic gene boards and paddles. iron hand. It weighs prostheses. His and is the progenitor of the A turning point: The surgeon Ferdinand Sauerbruch bone parts, synthetic regain their sense treatments – a hefty 840 g. artificial legs made of modern artificial arm. However, (Zurich Cantonal Hospital) invents the active veins, artificial hip of touch. with the aim of wood, leather, iron amputations were still prosthesis. The most famous patient fitted with a joints, and cochlea growing and and copper could be performed without anesthetics. “Sauerbruch” arm, almost three decades later, was implants, which replacing limbs in th locked in place at Medical anesthesia did not From Claus von Stauffenberg, one of the leading members enable deaf people order to optimize 15 Century the knee. become available until 1846. Library/ CC BY 2.0; Images, Science and Society Picture Photos: Science Museum London, Wellcome Deutsches Medizinhistorisches Museum; zVg, Joichi Ito/CC BY 2.0 of the failed plot to assassinate Adolf Hitler. to hear again. Today the recipients.

14 15 Review Review

Chế tạo thành công bộ xương 2016年、サイバー義体者のオリ ngoài dành cho người bị liệt ン ピ ッ ク「 サ イ バ ス ロ ン 」が 始 ま る thanh tra Wire Japan “A competition like the Cybathlon motivates us to give our all.” Swiss team leader Kenneth Hunt Cybathlon will show- case what bionics could do for millions Echte Cyborgs treten zum Kräftemessen in with disabilities. Kloten an The Conversation 20 Minuten Pure

emotionThere were more than 500 reports worldwide on the first Cybathlon in 2016. We look back at some of the pictures and headlines.

Get ready for the Cybathlon, the world’s first cyborg Olympics CBC

“I’m only going to the Alessandro Della Bella Alessandro Cybathlon / to win.”

Bert Pot Nicola Pitaro Einmal geht eine La-Ola-Welle / durchs Stadion. Man hofft, dass diese Offenheit zwischen Behinderten Olympiáda vylepšených und Nichtbehinderten anhalten möge. ľudí sa blíži, oficiálne NZZ Online Photos: ETH Zurich žijeme sci-fi Zetland

16 17 Review Review / Outlook

“It’s not about “Cybathlon Moves People and Technology – this isn’t just developing the an advertising slogan, it’s also a perfect description of the most complex event. Cybathlon demonstrates what technical aids can devices, but the currently do for people with missing limbs and movement most useful.” restrictions, but also where their limits are and where there Robert Riener is a need for development. It connects and creates under- standing for people who simply want to be accepted with their particular characteristics. I’m speaking from experience here. The first Cybathlon touched and inspired me in a very special way. I quickly realized that I wanted to come back again in 2020. The vari- ous tasks in the powered arm prosthesis race emboldened me to use my prosthesis for unfa- Querschnittgelähmte miliar activities in my everyday life erheben sich too. For screwing in a light bulb, for aus dem Rollstuhl example. Der Landbote In recent years, I have taken part in several Cybathlon Series and Expe- The most striking photos of the year riences. Once thing I’ve learned in BBC the process is that it is always ex- citing! Each race is decided on the spot. Everything has to be just right: your condition, the flawless “Using my execution, and you also need a little prosthesis to bit of luck. The new task with the touch and haptic box challenges me. Here you Countdown begins explore for Cybathlon objects feels have to use your hand prosthesis to The Hindu brilliant!» identify an object in a box by touch only. At first, this was inconceivable Claudia Breidbach from the Össur UEX for me, as people like me with dys- team made fourth place at the Cybathlon Cybathlon 2016: melia – a congenital malformation – 2016. She will be in Zurich again in 2020 No cyborgs yet, but do not know or miss the ability to with her i-Limb Quantum hand prosthesis we’re getting there grasp or feel with two hands. But and an electronic wrist rotation. Ars technica now after a lot of training, I can say “I knew it would be close, that touching and exploring objects and I risked everything. Now we’re going for a with my prosthesis feels brilliant! few drinks.” However, there is still potential for development when it Wheelchair pilot Florian Hauser in interview comes to hand prostheses. I would like to have a light- following his win weight, waterproof, multi-articulating full hand prosthesis. One with haptic feedback, improved robustness, and intuitive control. We pilots are proud to be able to present

Alessandro Della Bella, maxon Group Alessandro the application of new technical achievements to the public / and motivate other people to explore new horizons as a result. I’m really looking forward to being back at Nicola Pitaro / Cybathlon 2020, meeting all the other pilots and teams, and having an inspiring time with them.” Wenn Gelähmte wieder

gehen können Photos: ETH Zurich Südkurier

18 19 Teams Teams #drivenbymaxon At Cybathlon 2020, all of the attention will be focused on our main players: the teams. They are coming from all around the world to be part of a unique competition. Every fifth team uses maxon products. A small selection:

Ottobock RT-Movers Fortississimo Austrian company Ottobock’s The RT-Movers team from The Japanese team Fortississimo Genium X3 team took fifth place at Wakayama University in Japan will from Keio University is new to Cybathlon 2016 in the powered leg participate in the Cybathlon for the the Cybathlon. In preparation for prosthesis race. For pilot Willi second time in 2020. What is special the event, the team took part in Struwe, the greatest strength of his about their wheelchair is that it can the Wheelchair Series in Kawasaki, prosthesis is the processor-con- climb stairs without a caterpillar where pilot Hiroshi Nozima trolled attenuation of its knee joint. system. Each wheel of the RT-Mover managed to scoop 3rd place. The This gives the user a physiological is independent. This allows the team’s wheelchair is composed of gait that is very close to the natural wheelchair to ascend and descend four modules of wheel-track units one. stairs at a certain angle, which with swinging arm mechanism. has a positive effect on its energy This system allows two modes of efficiency and speed. locomotion: the first mode provides maxon products: a high degree of maneuverability Brushless EC 13 motor on smooth, level ground while the maxon products: second mode enables the wheel- SoftHand Pro ALEX HERMES VariLeg enhanced Several brushless EC-4pole motors, chair to generate sufficient traction Country: AUT a brushed RE 40 DC motor, an for rough terrain or climbing stairs. The team from the Istituto Italiano ALEX stands for “Advanced HERMES was founded in 2018 After Cybathlon 2016, the two EPOS4 Compact 50/15 CAN di Tecnologia and the Centro Lower Extremity Exoskeleton” and is the first team from Greece universities − ETH Zurich and the positioning controller, several E. Piaggio of the University of Pisa and consists of members from participating in the Cybathlon. HSR University of Applied Sciences Pilot Willi Struwe is 28, an GP 32 HP and GP 42 C planetary maxon products: is racing with pilot Maria Rosanna the Chinese company Fourier The team wants to develop a fully Rapperswil − found that their gearheads EC 90 flat motors Fossati. Maria particularly appre- Intelligence and the University of functioning exoskeleton for people competences complemented each engine driver, and a genuine and EPOS4 50/15 positioning ciates the flexibility and simplicity of Melbourne, Australia. The team has with limited motor function. It is other perfectly. The result is the Berliner. In early 2013, he controllers the prosthesis and trains three been developing an exoskeleton being supported by maxon’s Young VariLeg enhanced team, made up Country: JPN times a week for the Cybathlon. specially for participation in the Engineers Program (YEP). of students from different fields lost his right thigh in a Cybathlon since February 2019. of study. They are developing an shunting accident. “I want Country: JPN exoskeleton specially for the to set an example through For pilot Kazumi Morita, an competition. maxon products: maxon products: everyday situation comes to DCX 19 and GPX 19 maxon products: 4 special exoskeleton drives, my participation. You can A brushless consisting of a brushless flat motor achieve so much despite mind: Recently, he wanted EC 60 flat motor with an encoder, a three-stage maxon products: disability. My main motiva- to go shopping. However, Have a coffee Country: ITA planetary gearhead and an EPOS-4 Four powerful his everyday wheelchair, controller. EC 90 flat motors tion after my accident with maxon which has two main wheels Country: AUS, CHN was to be able to return As a Presenting Partner, maxon will be close The team’s pilot, Maria, says and small stabilizers, can at hand before and during the competition to my dream job. I have that people sometimes stare Country: SUI only move on level streets. in Kloten. A cozy lounge in the Team Village After pilot Lenny bought Country: GRE proved that I can climb is one of the many places where maxon at her in crowded subway He was not even able to can be found. We’re looking forward to himself a new smart watch, onto railway vehicles, and trains. With a look that says Pilot Thomas Krieg is a cross the shop’s small a direct exchange with teams and pilots and he received “stand up and “Hey, are you actually The pilot knows: “The sports enthusiast and connect and operate them, threshold. Kazumi Morita hope that their feedback will help us move” prompts twice a to develop even better drive systems for harassing me?” She needs a greatest challenge of an former bobsledder. As such despite my leg amputation.” ended up returning home day, as the watch detected assistive technologies. few seconds to realize that exoskeleton user is to he is used to pressure and is without having done any See you at the Cybathlon! sitting in a wheelchair as she may have accidentally get through the security not afraid of the big Cybath- shopping. “inactivity.” This was later touched the person with her check at the airport. You lon event. Quite the con- corrected through an prosthetic hand. “I’ve never get held up by security trary: “Sometimes I miss update for wheelchair personnel for a very long let on. My prosthetic hand that competitive feeling.” Giulio Coscia users. The story shows / looks very natural, so it’s time and have to wait until how wheelchair users are understandable that people they have examined the often forgotten when new think it’s a real hand.” exoskeleton in detail.” technologies are being developed. Photos: zVg, ETH Zurich

20 21 Assistance system Settling an old score At Cybathlon 2016, they were extremely unlucky with their futuristic wheel- chair prototype. Now, the developers at Scewo are coming back with a serial model – and they want to show it to their skeptics.

The first of its kind: the “Bro” wheelchair masters stairs with extendable caterpillar tracks.

T he powered wheelchair race at the Cybath- A lot has happened since then. The small start-up, lon had hardly begun when it was already which emerged from ETH Zurich and the Zurich Uni- over for the Scewo team. An error in the soft- versity of the Arts, now consists of 22 people and has ware caused the team’s wheelchair to stop at the first been awarded several innovation prizes. After years of obstacle. The disappointment was written all over the hard work, its “Bro” electric wheelchair is entering se- team members’ faces, not least because they had been rial production in 2020. “We have been through an in- regarded as one of the top favorites. tensive development period, during which we learned a huge amount in every sense,” says Tabita Rüegg, com- munications manager at Scewo. New robotic arm Even though the “Bro” is now ready for customers, with maxon motors the basic principle has not changed since the first pro- In the powered wheelchair race, totype: an electrically driven wheelchair that travels the door must now be opened independently on two wheels and manages stairs and Discover our and closed again using a technical aid with an external landings with extendable caterpillar tracks. There has energy source. The Scewo been nothing like this to date. For this reason too, the Young Engineers Program team is therefore equipping its team is taking part in the Cybathlon again. “The fact wheelchair with a robotic that we’re new means that there are a lot of skeptics,” arm, which is being specially maxon’s Young Engineers Program (YEP) supports innovative projects with discounted explains Rüegg. “By taking part, we want to prove

Stefan Schneller developed for this competition / drive systems and technical advice. Find out more: www.drive.tech task. They are using maxon that our device is marketable and can also cope with EC flat motors and an EPOS4 challenging everyday situations.” The aim is to give positioning controller. maxon spectators confidence in the wheelchair. “We can do supports them via the Young Engineers Program (YEP). this by overcoming all obstacles at the first attempt. If More information: we can do this faster than our opponents, that’s even

Photos: Scewo, ETH Zurich www.drive.tech cooler.”

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We believe that excellent engineers with a curiosity for new things can make the world a better place.

Eugen Elmiger, CEO maxon Group

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