Article 3
Everyone has the right to life, liberty and the security of person.
Article 22
Everyone, as a member of society, has the right to social security and is entitled to realization, through national effort and international co-operation and in accordance with the organization and resources of each State, of the economic, social and cultural rights indispensable for his dignity and the free development of his personality.
Article 23
1. Everyone has the right to work, to free choice of employment, to just and favourable conditions of work and to protection against unemployment. 2. Everyone, without any discrimination, has the right to equal pay for equal work. 3. Everyone who works has the right to just and favourable remuneration ensuring for himself and his family an existence worthy of human dignity, and supplemented, if necessary, by other means of social protection. 4. Everyone has the right to form and to join trade unions for the protection of his interests.
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You can either give people unemployment (wage without work)[as per 22 or 23(3)] by taxing the companies you mention, or you can make the companies to give money directly to the people in return for work. There is no third way. You can't deprive people of a dignified life by ignoring them.