With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their widespread success is limited by usability issues, specifically the disparity between user input and software control along the autonomy continuum. To address this, shared control concepts provide opportunities to combine the targeted increase of user autonomy with a certain level of computer assistance. This paper presents the free and open-source AdaptiX XR framework for developing and evaluating shared control applications in a high-resolution simulation environment. The initial framework consists of a simulated robotic arm with an example scenario in Virtual Reality (VR), multiple standard control interfaces, and a specialized recording/replay system. AdaptiX can easily be extended for specific research needs, allowing Human-Robot Interaction (HRI) researchers to rapidly design and test novel interaction methods, intervention strategies, and multi-modal feedback techniques, without requiring an actual physical robotic arm during the early phases of ideation, prototyping, and evaluation. Also, a Robot Operating System (ROS) integration enables the controlling of a real robotic arm in a PhysicalTwin approach without any simulation-reality gap. Here, we review the capabilities and limitations of AdaptiX in detail and present three bodies of research based on the framework. AdaptiX can be accessed at https://adaptix.robot-research.de.

翻译：随着赋能行动障碍人士的持续努力以及公众对技术接受度的提高，协作机械臂等辅助技术正日益普及。然而，其广泛成功仍受限于可用性问题，具体表现为用户输入与软件控制在自主性连续体上的差距。为此，共享控制概念提供了将提升用户自主性的目标与一定程度的计算机辅助相结合的机会。本文提出了免费开源的AdaptiX XR框架，用于在高分辨率仿真环境中开发和评估共享控制应用。该初始框架包含一个仿真的机械臂（配置虚拟现实示例场景）、多种标准控制接口以及专用记录/回放系统。AdaptiX可针对特定研究需求轻松扩展，使人机交互研究人员能够快速设计和测试新型交互方法、干预策略及多模态反馈技术，而无需在创意构思、原型构建与评估的早期阶段使用真实物理机械臂。此外，机器人操作系统集成支持通过物理孪生方法控制真实机械臂，且无仿真与现实之间的差距。本文详细回顾了AdaptiX的能力与局限性，并介绍了基于该框架的三项研究实践。AdaptiX可通过https://adaptix.robot-research.de访问。