Gabriel, thanks for asking. In that video and all of my vids, I was using the HAAS ascender on my my left foot and a standard pantin on my right foot. A bunch of configurations can be done with how you advance your system. I prefer a chest harness made by petzl, if i don't have that, then i use a lanyard over the shoulder, which works well too. If you have the HAAS or are looking to buy one, a good resource for setup is Michael Frankhauser's youtube channel. I have seen systems like the HAAS be made, checkout Lawrence Schultz's youtube channel if you want to do that without spending the $$$. I use the zk-2 rope wrench ALOT because converting from ascent to descent is a breeze (there is no converting). Even if you don't SRT and stick solely to DRT, the HAAS can still be incorporated in your system along with a pantin. Not as fast but quicker then humping.