This paper presents ABLE, an innovative exoskeleton for the upper limb currently under development at CEA-LIST Interactive Robotics Unit. Its distinctive high performance mechanical transmissions – screw and cable patented arrangement – and its integrated architecture makes it the very first of its category. Back-drivable, high efficiency, low inertia actuators provide a high capacity (around 50 N continuous effort at the hand) and hybrid force-position control capability without force sensor. ABLE 4D is currently used in a research project dedicated to rehabilitation (BRAHMA). Only the 4 axis model is described in this paper but a 7 axis version is already planned for 2009. Thanks to the performances obtained with ABLE 4D we are planning to use ABLE 7D for assistance for disabled persons as well as for intuitive teleoperation and haptic applications (VR). Thanks to its particularly simple design industrial versions are foreseen in a near future.

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