This paper presents the design of ABLE, an anthropomorphic upper limb exoske-leton integrally actuated by highly reversible ball-screw and cable (SCS standing for Screw-and-Cable-System) allowing true joint torque control without force sensor. Their unique kinematics allows their integration in the structure thanks to dedicated mechanical innovations such as the shoulder articulation and the forearm-wrist. The result is an anthropomorphic, lightweight, open architecture which avoids imprisoning the human limb. Applicative projects are briefly presented in: medical rehabilitation, teleoperation and haptics (VR).

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