ARM-01: An Open-Source Reversible 2-DOF Upper-Limb Rehabilitation Robot with Internal Cable Routing and Intrinsic Safety

The repository includes the following files: 01.File 3D.rar: complete 3D CAD models of the robot. 02.Drawing.rar: 2D engineering drawings of the custom parts required for fabrication and machining. 03.ElectricalSchematics.zip: electrical schematics of the robot, including the power system and CAN-based communication interface. 04.ControlCode.zip: ROS2-based control source code for system-level robot operation. 05.UnityBasedHmiCode.zip: source code of the Unity-based human–machine interface (HMI). 06.RosBridgeCode.zip: communication code enabling data exchange between the Unity-based HMI and the ROS2 control framework. 07.RecordedRobotData.zip: experimental datasets collected from the robot under different operating conditions and test scenarios.

Video1.mp4 to Video5.mp4: step-by-step hardware assembly video instructions corresponding to the procedures described in Section 5.1, “Hardware assembly and cable routing”.