A standing style transfer system, ABLE, is designed to assist a person with disabled lower limbs to travel in a standing position, to stand up from and sit down in a chair, and to go up and down steps. The ABLE system comprises three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. In this system, the telescopic crutches are useful not only to maintain the body stability in a standing position, but also to supply power when standing up from a chair, etc. Each hip and knee joint of the powered lower extremity orthosis has an actuator. This module actively fixes, bends, and stretches each joint. The mobile platforms use crawlers to enable the person to travel even on uneven ground. These platforms also enable the user to turn on a rotation board mechanism. Experimental results related to basic and indispensable operations for our daily life confirm the design's effectiveness.
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