Humanoids fascinate us through their anthropomorphic appearance, high dexterity, and potential to work in human-tailored environments and interact with humans in novel applications. In our research, we promote two real-world applications in physiotherapeutic juggling and assisted walking using two compliant humanoids (COMANs), COMAN and COMAN+. We focus on rehabilitation, which, as a result of changing demographics, is becoming an increasingly crucial application field. However, as with most humanoid experiments, the realization of these scenarios is challenging because the hardware is brittle, the software is complex, and control remains highly demanding. In this article, we describe an integrative and transparent control architecture that alleviates this complexity by strictly adhering in design and implementation to a componentbased approach. It promotes flexibility and reusability and allows transparent switching among different humanoid robots, between simulation and the real world, and among control paradigms. It also orchestrates the integration of real-time (RT) and non-RT (NRT) components, including a virtual reality (VR) framework, toward rich user interaction.

中文翻译：

---

符合人体模型的康复应用：实时控制，全身运动产生和虚拟现实的透明集成

类人动物以其拟人化的外观，高度的灵活性以及在人为定制的环境中工作并在新颖的应用中与人互动的潜力而着迷。在我们的研究中，我们推广了两种在物理治疗杂耍中的实际应用，并使用两种顺应性类人动物（COMAN）COMAN和COMAN +辅助行走。我们专注于康复，由于人口结构的变化，康复正成为越来越关键的应用领域。但是，与大多数类人动物实验一样，这些方案的实现具有挑战性，因为硬件易碎，软件复杂且对控制的要求仍然很高。在本文中，我们描述了一种集成且透明的控制体系结构，该体系结构通过严格遵守基于组件的方法来进行设计和实现，从而减轻了这种复杂性。它提高了灵活性和可重用性，并允许在不同的类人机器人之间，模拟和现实世界之间以及控制范例之间进行透明切换。它还精心设计了实时（RT）和非RT（NRT）组件（包括虚拟现实（VR）框架）的集成，以实现丰富的用户交互。