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 Scope and Limitations 1.4 Structure of the Thesis 2. Literature Review 2.1 Current Rehabilitation Robots 2.2 Degrees of Freedom in Robotics 2.3 Human Upper Limb Anatomy 2.4 Technology in Rehabilitation 3. Conceptual Design 3.1 Design Requirements 3.2 Conceptual Models 3.3 Selection of Mechanical Components 3.4 Proposed Design Concepts 4. Kinematic Analysis 4.1 Joint and Link Definitions 4.2 Forward Kinematics 4.3 Inverse Kinematics 4.4 Simulation and Prototyping 5. Control System Design 5.1 Control Strategy Overview 5.2 PID Control Application 5.3 Sensor Integration 5.4 Feedback and Error Correction 6. Fabrication and Assembly 6.1 Component Manufacturing 6.2 Assembly Process 6.3 Testing Procedures 6.4 Troubleshooting and Refinements 7. Experimental Setup and Results 7.1 Experimental Design 7.2 Data Collection Methodology 7.3 Analysis of Results 7.4 Discussion on Findings 8. Conclusion and Future Work 8.1 Summary of Contributions 8.2 Limitations of the Study 8.3 Recommendations for Future Research 8.4 Final Remarks