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”.

本研究配套的完整仓库已完成结构化部署，旨在支持所提出康复机器人系统的完整复现、检视与复用。该仓库包含如下文件：
01.File 3D.rar：机器人完整三维计算机辅助设计（CAD）模型
02.Drawing.rar：制造与加工所需定制零件的二维工程图样
03.ElectricalSchematics.zip：机器人电气原理图，包含供电系统与基于控制器局域网（CAN，Controller Area Network）的通信接口
04.ControlCode.zip：基于机器人操作系统2（ROS2）的系统级机器人运行控制源代码
05.UnityBasedHmiCode.zip：基于Unity的人机交互界面（HMI）源代码
06.RosBridgeCode.zip：实现基于Unity的人机交互界面与ROS2控制框架间数据交互的通信代码
07.RecordedRobotData.zip：机器人在不同运行工况与测试场景下采集得到的实验数据集
Video1.mp4至Video5.mp4：对应第5.1节“硬件组装与线缆布线”所述流程的分步硬件组装视频教程