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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.


I successfully defended my PhD thesis with the topic "Control of Hybrid Systems Affected by Time Delay with Application in Haptic Rendering" at the Faculty of Mechanical Engineering of the Leibniz Universität Hannover. I would like to sincerely thank all my colleagues, who supported me in finalizing this project.

The magazine Helmholtz Perspektiven reports in their cover story "Virtual Reality - Schöne neue Wirklichkeit" on the research activities in virtual reality and haptic interaction at our institute.



You can meet me at the following events:

Date Event Location Additional Material
June 6-9, 2017 IEEE World Haptics 2017 Fürstenfeldbruck (Munich), Germany Call for Papers
May 29 to June 3, 2017 ICRA 2017 - IEEE International Conference on Robotics and Automation Marina Bay Sands, Singapore Call for Papers



  • 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



Paper Awards

  • 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
  • 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

Innovation Awards

Technology Transfer Awards

  • S. Schätzle, B. Weber, T. Hulin, N. Sporer: VibroTac - Tactile Access to the
    World, EuRobotics Tech Transfer Award finalist 2015


In the Media


Patents and Patent Applications

  • T. Hulin: "Haptische Vorrichtung und Verfahren zur Regelung eines Aktors einer haptischen Vorrichtung", DE 102017100101
  • T. Hulin, S. Schätzle: "Aktiver Fingerhut zur Generierung taktilen Feedbacks", DE102016111634
  • K. Hertkorn, T. Hulin, C. Preusche: "Verfahren zum Steuern eines Roboters" (Method for controlling robot), DE102012205279
  • T. Hulin, S. Jörg, J. Klodmann, R. Konietschke: "Verfahren zum Steuern eines Telemanipulations-Roboters" (Method for telemanipulating a robot), EP000002602681
  • T. Ende, T. Hulin, C. Preusche, S. Schätzle, T. Wüsthoff: "Orientierungshilfe für Personen mit eingeschränktem Sehvermögen" (Orientation aid for persons having limited visual faculty), DE102011076891, EP000002713983

The last two in the list got already successfully licensed by industry in the scope of two technology transfers.




  • T. Hulin: A Practically Linear Relation between Time Delay and the Optimal Settling Time of a Haptic Device, IEEE ICRA 2017, May 2017, Singapore
  • M. Sagardia, T. Hulin: Evaluation of a Penalty and a Constraint-Based Haptic Rendering Algorithm with Different Haptic Interfaces and Stiffness Values, IEEE VR 2017, Mar. 2017, Los Angeles, California, USA






























Copyright Notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author\u2019s copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.


Supervised Theses

If you also would like to work for your thesis at DLR under my supervision, please feel free to send me your application letter.



Invited Peer-Reviewer for

  • IEEE Transactions on Robotics
  • IEEE Transactions on Control Systems Technology
  • IEEE Transactions on Haptics
  • IEEE Robotics and Automation Letters
  • International Journal of Robotics Research
  • Advances in Engineering Software
  • numerous international conferences and symposia in the fields of robotics, control, haptics, virtual reality, mechatronics, and mathematical modelling.


  • Member of the Programme Committee of the GI VR/AR 2015
  • Member of the Programme Committee of the VRAR Workshop 2016
  • Member of the Editorial board for the Institute of Robotics and Mechatronics web site


Useful Stuff

Here is a short list of useful stuff that I implemented during my research activities.




Zuletzt aktualisiert: Donnerstag, 09. Februar 2017 von Thomas Hulin