This talk will present the current state and the proposed next efforts in the field of natural human-robot interfaces for mobile robotic systems based on body motion. The intuitive mapping system is data-driven from the user's body motion when they are asked to naturally move as they were in control of the machine performing a predefined set of manoeuvres . Previous studies demonstrated that this kind of interface presents a steeper learning curve in terms of teleoperation performance with respect to a classic remote controller. Further developments of the interface will consist in a personalised mapping, adapted ad-hoc on the user, the introduction of a machine learning-based nonlinear regressor to increase the decoding power of the gestural interface, an online adaptation paradigm and a shared control system finalised to the optimisation of estimated trajectories.