This chapter explores the concept of Human-Centered Digital Twins (HCDTs), an integration and coupling of Digital Twin cyber-physical technology with Human-Centered AI principles. While traditional Digital Twins primarily focus on the technical and mechanical aspects of cyber-physical systems, HCDTs prioritize human interaction, agency, and decision-making within these systems. This examines the theoretical foundations, design principles, and practical applications of HCDTs, emphasizing how they enhance human-machine collaboration and improve operational efficiency. The use of HCDTs is not without its challenges, such as ensuring transparency, seamless integration with human workflows, and addressing ethical concerns like privacy and trust. This chapter is designed to provide a complete overview of HCDTs and how they can be used to change the way that various industries, such as healthcare, manufacturing, and smart cities, operate to ensure that Digital Twins of the future are not only very technological but also align with human-centered design principles and values. The convergence of these technologies marks the beginning of a new standard of building adaptive, human-centric cyber-physical systems.