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

Sri Harsha Grandhi; Dinesh Kumar Reddy Basani; Raj Kumar Gudivaka; Rajya Lakshmi Gudivaka; Basava Ramanjaneyulu Gudivaka; Sundarapandian Murugesan; M M Kamruzzaman

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

Authors

Sri Harsha Grandhi
Dinesh Kumar Reddy Basani
Raj Kumar Gudivaka
Rajya Lakshmi Gudivaka
Basava Ramanjaneyulu Gudivaka
Sundarapandian Murugesan
M M Kamruzzaman

Keywords:

Rehabilitation Therapy, Model Predictive Control,, Digital Twin,, Augmented Reality, Real-Time Adaptation,, Upper Limb Recovery

Abstract

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

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Published

2025-02-28

How to Cite

Sri Harsha Grandhi, Dinesh Kumar Reddy Basani, Raj Kumar Gudivaka, Rajya Lakshmi Gudivaka, Basava Ramanjaneyulu Gudivaka, Sundarapandian Murugesan, & M M Kamruzzaman. (2025). Adaptive Robot-Assisted Telerehabilitation System Using Model Predictive Control and Digital Twin for Personalized Upper Limb Therapy. Journal of Science & Technology (JST), 10(2), 86–94. Retrieved from https://jst.org.in/index.php/pub/article/view/1185