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Formal methods are proven techniques that provide a rigorous mathematical basis to software development. In particular, they allow the quality of development to be effectively improved by making accurate and explicit modelling, so that anomalies like ambiguities and incompleteness are identified in the early phases of the software development process. Semi-formal UML models and formal Timed Automata models are used to design a telerehabilitation system through a practical approach based on abstraction and refinement. The formal verification of expected properties of the system is performed by the UPPAAL tool. The motivation of this work is threefold: (i) showing the usefulness of formal methods to satisfy the validation needs of a medical telerehabilitation system; (ii) demonstrating our approach of system analysis through refinements to guide the development of a complex system; and (iii) highlighting, from a real-life experience, the usefulness of models to involve the stakeholders all along the design of a system, from requirements to detailed specifications.