Access to and use of assistive technologies will become a more important issue over the coming decades, as the population ages and the number of people with disabilities increases. To meet the particular needs of various disability situations, specific assistive solutions need to be developed. This paper tackles the problem by proposing a system that adapts to each person and their particular disability. It will rely on a distributed and modular architecture to modify usual assistive devices providing a new ability to respond dynamically to user needs. To control reconfiguration and communication with the environment, the architecture will be orchestrated by an embedded digital twin of the assistive technology.