The discussion highlights the main contributions and contextualizes them within current rehabilitation robotics research. The findings demonstrate that low-cost embedded platforms can support robust biocooperative controls, making them suitable for clinical use. The EMG-driven bilateral control strategy validated the proposed acquisition system, showing high accuracy and low response time. Incorporating EMG-based feedback further improved user performance, indicating its potential as a valuable tool for enhancing motivation and learning during rehabilitation. The multimodal wearable platform proved both versatile and reliable for implementing diverse biocooperative controls based on physiological and biomechanical data. Nonetheless, limitations remain, including the need for clinical trials with patients and further optimization of multimodal control algorithms.