ABLE, an Innovative Transparent Exoskeleton for the Upper-Limb

This paper presents ABLE, an innovative exoskeleton for the upper limb currently under development at CEA-LIST Interactive Robotics Unit (Fig 1). Its distinctive high performance mechanical transmissions - screw and cable patented arrangement [91 - and its integrated architecture makes it the very first of its category. The first 4 axis model is described here but more complete models are already planned: a 7 axis model as well as portable versions. Its back-drivable, high efficiency, low inertia actuators provide a high capacity (around 40 N continuous effort at the hand) and allow hybrid force-position control without requiring any force sensor. Its first application is currently a research program in rehabilitation (BRAHMA project) and professional use is already in view. Assistance tasks for disabled persons (carrying a bottle) are also typical tasks to be performed by ABLE as well as intuitive telerobotics, haptic device for VR, and sport training, etc. Furthermore, its versatility and simple design allow industrial versions to become soon available.