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

The complete repository associated with this work is organized to enable full replication, inspection, and reuse of the proposed rehabilitation robot system. 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”.