This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the control interface to effectively map user's motions in a low-dimensional space to complex robotic assistive devices, such as prostheses, supernumerary limbs, up to remote robotic avatars. The goal is a system which integrates the human and the robotic parts into a unique system, moving so as to reach the targets decided by the human while autonomously reducing the user's effort and discomfort. We present a framework to control general multi DoFs assistive systems, which translates user-performed compensatory motions into the necessary robot commands for reaching targets while canceling or reducing compensation. The framework extends to prostheses of any number of DoF up to full robotic avatars, regarded here as a sort of whole-body prosthesis of the person who sees the robot as an artificial extension of their own body without a physical link but with a sensory-motor integration. We have validated and applied this control strategy through tests encompassing simulated scenarios and real-world trials involving a virtual twin of the robotic parts (prosthesis and robot) and a physical humanoid avatar.

翻译：本文提出一种新的通用控制方法，专为多自由度设备设计，旨在帮助运动能力受限人群完成日常活动。其核心挑战在于为控制界面寻找最适配的策略，以将用户在低维空间中的动作有效映射至复杂的机器人辅助设备（如假肢、冗余肢体乃至远程机器人化身）。该系统旨在将人体与机器人部件融合为统一整体，在实现人类设定目标的同时，自主降低使用者的操作负荷与不适感。我们提出一个通用多自由度辅助系统控制框架，该框架将用户执行的代偿性动作转化为抵达目标所需的机器人指令，同时消除或减少代偿行为。该框架可扩展至任意自由度的假肢乃至完整机器人化身——后者在此被视为一种全身性假体，使用者将其视为自身身体的非物理连接式人工延伸，并实现感觉运动整合。我们通过仿真场景测试和真实世界试验（包含机器人部件虚拟孪生体与物理人形化身）对该控制策略进行了验证与应用。