  While social robots are developed to provide assistance to users through
social interactions, their behaviors are dominantly pre-programmed and
remote-controlled. Despite the numerous robot control architectures being
developed, very few offer reutilization opportunities in various therapeutic
contexts. To bridge this gap, we propose a robot control architecture to be
applied in different scenarios taking into account requirements from both
therapeutic and robotic perspectives. As robot behaviors are kept at an
abstract level and afterward mapped with the robot's morphology, the proposed
architecture accommodates its applicability to a variety of social robot
platforms.
