Rules for the wrestling match between EAP actuated robotic arms and human



Rules were set to assure the safety of the human competitor and the fairness/sportsmanship of the competition.  Rules need to be defined for the various parties to the competition and they are envisioned to be modified as advances in the EAP field are being made.




Rules for the robotic arm

1.      The safety of the human wrestler is the number one priority of this competition. Safety measures should be taken to assure that the human will not be subjected at any time to any hazardous conditions.

        To protect the human wrestler from harm, a termination switch should be provided with quick access to allow terminating the competition in case of unforeseen condition that may lead to hazard.

2.      The robotic arm has to be actuated by an EAP material and the actuators should be approved by the organization committee prior to the participation in the competition.

3.      Access to the drive actuators should be made available to allow direct viewing and confirmation of the drive mechanism prior to the beginning to the match.

4.      As realistic as possible, the robot arm should emulate the wrestling action of a human arm.

5.      As much as possible, the structural elements of the robot arm should be made of polymer base materials.

6.      The shape and dimensions of the robotic arm should match an arm of an average adult human. 

7.      The robotic arm should have a mechanism that is reversible, namely, it should be possible to rotate the arm both left and right in order to assure the capability to win and lose.

8.      The robot should not perform any irritating acts (heating, vibration, irritating noise, blinding lights, etc.) or any acts that are beyond human capability


Rules for the human

These rules will be based on the existing rules for human competition as described in  



The following are the detailed rules for the wrestling match and they are based on the rules for human wrestling matches as defined in the United State ArmSports ArmSports Rules & Regulations (dated January 2003).  For the robot arm the term “wrestler” refers to the arm operator.  These rules [] were provided as a courtesy of Dave Devoto, who is one of the committing members.


1. Only one finger can be wrapped in the hand grip before the “GO” signal

2. The referee must see both thumb knuckles, unless both wrestlers agree to wave the rule.

3. The wrestlers’ shoulders (or the equivalent to shoulder for the robot) must be square to the table before the match begins.

4. The shoulders may not be less than a fist distance away from the hand on the start.

5. The match begins with the signal “Ready” and then “Go”.

6. The first false start leads to a warning and any others after that is considered a foul.

7. A riser may be used by the human competitor if the beltline is below the table but he/she must place and return own riser.

8. To make a winning pin the competitor must bring the opponent’s arm to the touch pad or obtain a parallel pin.

9. A parallel pin is considered reached when any part of the opponent’s hand, wrist or fingers reaches below the touch pad.

10. Any part of the opponent’s fingers, wrist or forearm may be touched to constitute a win.

11. The wrestlers may not touch their body by the hand and if a position is gained it will be considered a foul.

12. If the wrestler gets a foul and his/her/its hand is lower than 45 degrees the particular wrestler loses that match.

13. A wrestler forfeits the match when a second foul occurs.

14. The referee will only center the hands left and right forward and back is up to the individual wrestler.

15. If a wrestler intentionally opens the hand and a slip occurs then a foul will be issued and the match will be restarted.

16. If a slip occurs the judges will apply the strap (a USA approved Velcro strap will be used), unless a foul is called.

17. The strap cannot be applied lower on the wrestlers’ wrist than 1 inch.

18. The match must start with at least one foot of the human on the ground but after the go it would not matter.

20. The wrestlers’ shoulders cannot go past the center of the table and if position is gained then the specific wrestler will get a foul.

21. If it is determined that the human is in a position that may hurt his/her arm then the match would be stopped if deemed necessary.

21.1  The positions are, but not limited to, in a neutral or losing position turning away from the human hand, letting the shoulder get in front of the hand. Human - Don’t look away from your hand!

22. If the match is stopped for a hurt arm position a foul will be issues and in the second time the wrestler will lose the match.

23. The wrestler must have contact with the peg when the pin is made.

24. If the elbow comes off the pad and there is a position gain or there is a hand change the wrestler will get a foul.

25. If a wrestler’s elbow comes off the pad and there is no position gained or hand change then this condition will be considered “no call”.

26. If a wrestler’s elbow stays off the pad, fouls will continue to be issued until it goes back on the pad.

27. It is the wrestlers’ responsibility to keep their own elbow on the pad and if an elbow comes off and touch’s the touch pad the wrestler loses the match.

28. Back pressure to the extent that it pulls the opponent past the center of the table is not allowed. This infraction will be deemed the same as a false start.

29. The referee will give a referees grip after 1 minute. The wrestlers must not move during the set up until the “Ready” and “Go” signals are issued. The wrestlers cannot change the grip that the referee assigns and any change is a foul.

30. Except for hazardous conditions, the WRESTLING MATCH CANNOT BE STOPPED until the referee grabs the hands signifying the end of the match.

31. The wrestling match must be conducted in a sportsmanship manner and the referee can give a disciplinary foul for un-sportsmanship behavior.

32. All referee decisions are final.