For example, one could get data from a PS3 controller, a mouse, a keyboard, an Arduino device, etc��

And did you use it for these kind of devices? Or anything else?

There is an example with an HID mouse on the wiki https://github.com/tamerescrl/libusb-pharo/wiki/Get-and-parse-HID-reports

I managed to get data from a PS3 controller but I can not find my code anymore, I think I lost it.

It was not that hard to do, I may re-do it one day and write a small tutorial.

The only problem with PS3 controller is that the HID descriptor is hidden (you have to get it from the internet, it is not stored in the device).

Julien