Adaptive Robot-Assisted Telerehabilitation System Using Model Predictive Control and Digital Twin for Personalized Upper Limb Therapy

Smart rehabilitation systems have revolutionized the delivery of upper limb therapy, with treatments that aremore accurate, adaptive, and patient-focused. An advanced rehabilitation system integrating Model PredictiveControl (MPC), Digital Twin visualization, and Augmented Reality (AR) interfaces ensures personalized andadaptive therapy. Real-time data are processed by the system with low latency of 10 ms, reducing X, Y, and Zaxes trajectory tracking errors. The system changes treatment from 80 units to 79.85 units according to thepatient's level of fatigue (0.5) and enhances comfort and rehabilitation results.