Design of an Upperlimb rehabilitation robot arm with 6 degree of freedom

1. Introduction 1.1 Background and Motivation 1.2 Objectives of the Study 1.3 Structure of the Thesis 2. Literature Review 2.1 Rehabilitation Robotics Overview 2.2 Upper Limb Rehabilitation Requirements 2.3 Six Degrees of Freedom in Robotics 2.4 Existing Robot Arm Designs 2.5 Summary and Gap Identification 3. Design Principles 3.1 Design Requirements and Constraints 3.2 Selection of Actuators 3.3 Kinematic Analysis 3.4 Material and Structural Considerations 4. Development of the Robot Arm 4.1 Conceptual Design 4.2 Detailed Mechanical Design 4.3 Electrical and Control Systems 4.4 Integration of Components 5. Control Strategies 5.1 Overview of Control Systems 5.2 Motion Control Techniques 5.3 Sensory Feedback Mechanisms 5.4 Safety and Compliance 6. Simulation and Testing 6.1 Simulation Environment Setup 6.2 Performance Metrics and Criteria 6.3 Test Procedures and Protocols 6.4 Analysis of Simulation Results 7. Evaluation and Validation 7.1 Prototype Testing 7.2 User Trials and Feedback 7.3 Data Analysis and Interpretation 7.4 Comparison with Existing Solutions 8. Conclusions and Future Work 8.1 Summary of Key Findings 8.2 Contributions to the Field 8.3 Limitations of the Study 8.4 Suggestions for Future Research