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While social robots are developed to provide assistance to users throughsocial interactions, their behaviors are dominantly pre-programmed andremote-controlled. Despite the numerous robot control architectures beingdeveloped, very few offer reutilization opportunities in various therapeuticcontexts. To bridge this gap, we propose a robot control architecture to beapplied in different scenarios taking into account requirements from boththerapeutic and robotic perspectives. As robot behaviors are kept at anabstract level and afterward mapped with the robot's morphology, the proposedarchitecture accommodates its applicability to a variety of social robotplatforms.

A platform-independent robot control architecture for multiple therapeutic scenarios