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Cybathlon Assistive Device Competition | ETH Zurich


My Role

I designed and tuned control algorithms in LabVIEW for a powered prosthetic ankle-knee prototype for Cybathlon race tasks mainly ramps and contributed other tasks (walking, ladder, stairs). I integrated IMU sensors into the control system, conducted bench testing for characterization and beam failure. I coordinated pilot recruiting and testing.

Project Info

Cybathlon is an international competition organized by ETH Zurich that challenges teams to develop advanced assistive technologies for people with disabilities. As 10 main team member consist of engineers and master students, we developed functional ankle-knee prosthesis for our 56 years old pilot with above knee amputation and to competed in 10 different challenging tasks. Competition happened in place in Zurich, October 2024 (video below)

Technical Approach


  1. System Characterization:

    Bench-tested the ankle prosthesis to quantify angular range, torque output, and mechanical limits, producing calibration data for controller tuning.

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  2. Control Algorithm Design:

    Implemented closed-loop position and torque control in LabVIEW; optimized impedance control parameters for stable task performance across Cybathlon race task (ramp, stairs, ladder)

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  3. Sensor Integration:

    Calibrated and synchronized joint encoders, load sensors, and IMUs to ensure precise state estimation.

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  4. Pilot Testing:

    Conducted iterative trials with the Cybathlon pilot to refine comfort and response, translating feedback into controller improvements and race task strategies.

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    Competition Video


Team

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