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ARC ANGEL is an active robotic system like ARGOS; however, its electric motor is not mounted overhead to a runway and bridge system, but instead is mounted to the test subject’s backpack-like PLSS where the motor(s) supplies real-time actuation torque off-loading to the upper arms via cabling. If a test subject picks-up a hammer, the system will react immediately to offload the weight of the hammer relative to the programmed environment. The ARC ANGEL system is comprised of an electric motor(s), soft goods, electronics hardware, firmware, and software. To provide a smoothly operating arm offloading analog and optimize system performance, engineers at JSC coded software that leverages kinematic algorithms and closed-loop architecture for motor control, along with custom computer language scripts to ingest sensor data. This allows ARC ANGEL’s subsystems to be seamlessly integrated and accurately simulate one to zero G environments. During operation, compact tension sensors and inertial measurement units detect arm weight and motion and provide a closed-loop control system that feeds data to a single-board computer and requisite firmware for processing. A custom graphical user interface was also developed in-house to provide controls for inputting desired arm offload values. Additionally, ARC ANGEL features its own power supply that provides power to its subcomponents without external cables. This allows the ability to function independently from ARGOS and further lends itself to potential terrestrial applications. This work directly correlates to active exosuit development that is being implemented for rehabilitation and/or assistive medical devices. ARC ANGEL is essentially providing a desired assistance (offload) while maintaining a subject’s full range of motion. The system hardware and software can be modified to custom-fit an individual without a spacesuit and toward limb-assisted movement – not just arm offloading. ARC ANGEL may already meet a higher physical demand and robustness given that it is engineered to perform in challenging environments with greater loads. ARC ANGEL is at a technology readiness level (TRL) 5 (component and/or breadboard validation in laboratory environment) and is now available for patent licensing. Please note that NASA does not manufacture products itself for commercial sale.