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Institut für Robotik und Mechatronik: Thomas Hulin


Thomas Hulin

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Analyse und Regelung komplexer Robotersysteme
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-1306
E-Mail: Thomas Hulin

Member of the Telepresence Research Group.



  • STAMAS: Smart technology for artificial muscle applications in space (European Project FP7)
  • VR-OOS: Virtual Reality for On-Orbit Servicing
  • VibroTac: A Versatile Vibrotactile Feedback Device for the Wrist
  • Haptic rendering for virtual assembly verification
    Partners: VR-Lab of the Volkswagen AG, Fraunhofer IGD
  • EU Network of Excellence: Enactive Interfaces (IST-2004-002114)
  • Skills: Multimodal Interfaces for Capturing and Transfer of Skill (European Project FP6-IST-035005)


Fields of Interest

Control theory for haptic rendering Human machine interfaces (video) Virtual product development (video) Robot simulation and visualization Skill transfer Haptic rendering algorithms



  • Best Paper Award in the category Virtual, Augmented and Mixed Reality, HCI International 2013, for the paper B. Weber, M. Sagardia, T. Hulin, C. Preusche: Visual, Vibrotactile, and Force Feedback of Collisions in Virtual Environments: Effects on Performance, Mental Workload and Spatial Orientation
  • M2M Challenge 2012/2013 - VibroTac is the winner in the category healthcare
  • VibroTac is WT Innovation Cup finalist
  • DLR Innovation Award 2012 for the VibroTac Technology, S. Schätzle, T. Hulin, T. Ende, T. Wüsthoff, B. Weber, C. Preusche: VibroTac - A Versatile Vibrotactile Feedback Device for the Wrist awarded by the "Gesellschaft von Freunden des Deutschen Zentrums für Luft- und Raumfahrt e.V."
  • Short Paper Honorable Mention, IEEE VR 2012, for the paper M. Sagardia, B. Weber, T. Hulin, C. Preusche, G. Hirzinger: Evaluation of Visual and Force Feedback in Virtual Assembly Verifications








  • Hulin, T.; Hertkorn, K.; Preusche, C.: Interactive Features for Robot Viewers, ICIRA 2012, Oct. 2012, Montreal, Quebec, Canada
  • Schmirgel, V.; Zimmermann, U.E.; Yechiam, E.;Telpaz, A.; Hulin, T.; Preusche, C.: Training Approaches for Improving Robot Programming-by-Demonstration Skills, Skill Training in Multimodal Virtual Environments, Book Chapter, Editor: Bergamasco, M.; Bardy, B.; Gopher, D., CRC Press, Sep. 2012
  • Sagardia, M.; Weber, B.; Hulin, T.; Preusche, C.; Hirzinger, G.: Evaluation of Visual and Force Feedback in Virtual Assembly Verifications, IEEE VR 2012, March 2012, Orange Country, CA, USA (Award: Short Paper, Honorable Mention)





  • Weller, R.; Mainzer, D.; Zachmann, G.; Sagardia, M.; Hulin, T.; Preusche, C.: A Benchmarking Suite for 6-DOF Real Time Collision Response Algorithms, Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology 2010 (VRST' 2010), Nov. 2010, Hong Kong, China
  • Zacharias, F.; Howard, I.S.; Hulin, T.; Hirzinger, G.: Workspace Comparisons of Setup Configurations for Human-Robot Interaction, IROS2010, Oct. 2010, Taipei, Taiwan
  • Hulin, T.; Schmirgel, V.; Yechiam, E.; Zimmermann, U.E.; Preusche, C.; Pöhler, G.: Evaluating Exemplary Training Accelerators for Programming-by-Demonstration, in 19th IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man 2010), Sep. 2010, Viareggio, Italy
  • Diaz, I.; Gil, J.J.; Hulin, T.: Stability Boundary and Transparency for Haptic Rendering, Advances in Haptics, Mehrdad Hosseini Zadeh (Ed.), ISBN: 978-953-307-093-3, INTECH, 2010, Available from: sciyo.com/articles/show/title/stability-boundary-and-transparency-for-haptic-rendering
  • Hertkorn, K.; Hulin, T.; Kremer, P.; Preusche, C.; Hirzinger, G.: Time Domain Passivity Control for Multi-Degree of Freedom Haptic Systems with Time Delay, ICRA2010, May 2010, Alaska, USA
















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Supervised Theses:


Useful Stuff

Finally, this is a short list of useful stuff that I implemented during my research activities.



Zuletzt aktualisiert: Freitag, 05. September 2014 von Thomas Hulin