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The proposed system offers a highly customisable approach to rehabilitation, ensuring real-time adaptability to patients\u2019 specific needs while maintaining compactness and ease of use. Key features include a modular design allowing precise stiffness adjustments, a robust control architecture, and interactive rehabilitation phases designed to enhance user engagement. Extensive multidisciplinary analyses, including kinematic, dynamic, and structural evaluations, demonstrate the system\u2019s ability to improve therapy effectiveness through tailored interaction and feedback. Validation tests demonstrated the prototype\u2019s reliability and robustness, and initial usability assessments suggest its potential to improve rehabilitation outcomes. 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