ADFS or similar to log into windows via RDP?

Hi folks, I have a question that is turning out to be WAY more difficult to answer than I expected. We have a need to have centralized user management as a Managed Service Provider, that would allow us to log into any of the windows servers, across any of our customers, with the same creds. There are all kinds of hokey user management systems out that that will remotely manage AD but we have a whole bunch of other restrictions that don't allow that (HIPAA PCI BLAH BLAH BLAH). Every single thing I read is related to application logins and websites. We don't have that, although we do have citrix, but that is not the question since we know that is actually possible.

So, the root question. Is it possible to log into a windows server via RDP, with credentials provided via Federated Services?

If so, can you point me to a couple tutorial/examples/help that would be awesome. Or, if not possible, any alternatives that would?