Could OCP have brought Murphy back but more like…Murphy?

My title I think may be a bit confusing…I know that Robo is still (mostly, kinda) Murphy, but could OCP have brought Murphy back closer to himself? Like with the full cybernetic body but more closely resembling a human and with all of his memories and personality intact?

Did they mess with his memories/brain solely because they wanted to control him? Or did they have no choice?