LUVMI

In this project, the goal is to develop a mobile platform that can analysis lunar volatile in the south pole of the moon.
The video below shows the control framework using the Unity3D simulation (simplified version available here) transmitting telemetry (motors state, imu, cameras) to ROS nodes to control the rover and generate the 3D map in real-time.

DexROVHaptics

In this project, the goal is to implement a haptic engine (per se, H3D HAPI) in a simulation environment.
The videos below show that is it possible:

• to contact simple primitives with diferent coefficients of friction
• to contact moving objects
• to get a haptic feedback on complex meshes (here using a falcon device)
• to interect with many haptic points simultaneously (here using a leap motion device)

DexROVHaptics documentation

MIRAD

In this project, the goal is to provide an application that gives a real-time visual feedback of an avatar (tracked with a kinect-like device) where we add a virtual lower-limb exoskeleton.
The videos show the different parts of this implementation:

• First, based on a point cloud coming from the kinect, we extract a virtual manikin of the user (here, the device extracts nodes, and they are connected to each other with virtual links)
• This manikin is used as a baseline to move a physical model (using OpenSim) represented by a skeleton
• On this physical model, we add the lower-limb exoskeleton
• We can perform som rough analysis, e.g. auto-collision
• We can also display physical information, as the Center of Mass position of physical model, and its projection on the ground

Mirad documentation