Robotic digital twin as a training platform for rehabilitation health personnel


  • Deira Sosa-Méndez Centro de Automática y Robótica, Escuela Técnica Superior de Ingeniería y Diseño Industrial, Universidad Politécnica de Madrid, C/ Ronda de Valencia, n.º3, 28012, Madrid, España
  • Cecilia Elisabet García Cena Centro de Automática y Robótica, Escuela Técnica Superior de Ingeniería y Diseño Industrial, Universidad Politécnica de Madrid, C/ Ronda de Valencia, n.º3, 28012, Madrid, España



Digital twin, Exoskeleton, Matlab/Simulink®, medical rehabilitation platform, simulation, rehabilitation robotics


In the last twenty years, a trend towards the digitization of products and processes has been generated, so the new concept of health 4.0 promotes the use of simulators and digital twins for the training of health personnel, as well as for the personalized planning of patients rehabilitation treatments. This paper presents a virtual training tool for health personnel, which is based on the prototype of a digital twin of an exoskeleton for upper limb rehabilitation. The device was designed in Solidworks® and later its equivalent model was obtained in Matlab/Simulink® software. Through the latter, the functionality of the device is evaluated through the implementation of different therapeutic routines, which help the physiotherapist to plan and evaluate the performance of each patient’s treatment. In this case, the evaluation of the movements of the upper limb are generated through independent and combined movements of the shoulder,
elbow and wrist joints and, as a result, graphs of the movements are obtained, , as well as a virtual representation of the digital twin and the values of the torques in each joint. Finally, a digital tool that allows the digital twin prototype to be configured to conditions similar to those of the real exoskeleton for automation and supervision tasks is obtained.



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How to Cite

Sosa-Méndez, D., & García Cena, C. E. (2023). Robotic digital twin as a training platform for rehabilitation health personnel. Enfoque UTE, 14(3), pp. 19-26.