Website:
https://vegard.itch.io/able
Use Q, W, O, and P to control the arms (Q/P to grab and let go; W/O to pull yourself up).
Starter tip: Press Q and P together to grab on to both sides of the shaft, then press and hold W and O together to hoist yourself up. Try building up some momentum before you let go!
Note: I highly recommend downloading the native executable, which has a more consistent frame rate and features like controller support and the ability to save and race against your PB.