Richard Simmons seems to be poking his head out from where he's been hiding for about a decade now -- 'cause he just let the world hear his voice anew ... and he hasn't changed.
The legendary fitness instructor threw up an audio clip Monday to his personal YouTube page -- and while he normally posts dance remixes and other throwback clips of himself ... on this particular occasion, he decided he wanted the world to hear from him directly.
Check it out .