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推进以及公众对技术接受度的提升，协作机械臂等辅助技术日益普及。然而，其广泛成功仍受限于可用性问题，特别是用户输入与软件控制沿自主性连续体存在的差异。为此，共享控制概念提供了将用户自主性定向提升与特定计算机辅助相结合的可能性。本文提出免费开源的AdaptiX扩展现实（XR）框架，用于在高保真仿真环境中开发与评估共享控制应用。该初始框架包含：虚拟现实（VR）环境中的仿真机械臂示例场景、多种标准控制接口及专用录制/回放系统。AdaptiX可根据特定研究需求灵活扩展，使人类-机器人交互（HRI）研究人员能够在概念构思、原型设计与评估的早期阶段，无需实体物理机械臂即可快速设计并测试新型交互方法、干预策略及多模态反馈技术。同时，通过机器人操作系统（ROS）集成，采用物理孪生（PhysicalTwin）方法实现真实机械臂的控制，且无仿真-现实差距。本文详细评述了AdaptiX的功能与局限，并展示了基于该框架的三项研究成果。AdaptiX可通过https://adaptix.robot-research.de访问。