Lab Infrastructure

Lab Facilities

The NeuroInformatics Group operates three different labs:

Bimanual Grasping and Manipulation Lab
Manual Intelligence Lab
BCI Lab

Additionally, our group benefits from the Central Lab Facilities offering access to several robotic platforms and providing tools and infrastructure to facilitate robotics research.

GraspLab

This lab is based on two main bi-manual robotic platforms :

2 ceiling mounted Mitsubishi PA10 7-DOF arms support various tools, but mainly robotics hands. A vision, light and audio system permit acquisition of the scene and interaction with a human.
2 Kuka LWR4 7-DOF arms mounted in a torso like setup support various tools, currently mostly tactile sensors and robotics hands. A vision and light system permit acquisition of the scene.

The tools that can equip the arms with a quick mount system are :

2 Shadow Dexterous EDC Motor hands with a total of 24 DOF, with 5 fingers each equipped with the MID tactile sensors, and flesh-like sensors on other phalanx and palm.
2 Shadow Dexterous CAN Muscle hands with a total of 24 DOF, with 5 fingers each equipped with QTC tactile or PST sensors.
1 Schunk Dexterous Hand equipped with tactile sensors
2 Myrmex tactile modules, and a tactile tool (robot hand-held)
1 ATI Force/Torque Gamma sensor
2 Poking sticks with MID sensors

The lab also provides computing machines for vision processing, neural network training, or simulation, and smaller equipments such as Firewire cameras or a 3-axis CNC platforms to systematically test/calibrate tactile sensors.

Phone : 12001 / 12007

MILab

MILab stands for Manual Intelligence Lab focusing the research on analysis and tracking of human manipulation skills.

The equipment is a motion capture system based on Vicon cameras. 17 MX3+ cameras are installed above and below a glass table to track and record motion of tiny reflective markers placed on human hands.

The platform is versatile and can synchronize the recording of various signals in addition to the marker positions such as the one from high speed video cameras (200Hz), a force/torque platform, tactile gloves or an eye-tracker to name a few.

Phone : 12128

BCI Lab

The Brain-Computer Interface (BCI) Lab is focused around the aquisition and use of physiological signals for human-machine interfaces. Particular emphasis is put on the study of eye movements and brain activity.

Brain activity recording / Electroencephalography (EEG) devices :

2, g.tec Medical Engineering, 16 electrode g.USBAmp (1 version 2.0, 1 version 3.0) which can be connected together for an up to 32 electrode recording
2, Neurosky, Mindwave Mobile single electrode wireless headsets
1 Emotiv, EPOC 14 electrode wireless headset

Eyetracking devices :

1 SR Research, Eyelink II head-mouted eyetracker working on a 2 computer setup
1 LC Technologies, EyeFollower desktop eyetracker
3 Pupil Labs, 3D printed Monocular USB glasses
1 SMI, Head-mounted mobile eyetracking device attached to an adjustable cycling helmet

Other physiological signal recording devices :