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Dr.-Ing. 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: Dr.-Ing. Thomas Hulin

Member of the Telepresence Research Group.

Our video on "Realtime Collision Avoidance for Mechanisms with Complex Geometries" got accepted for publication on the IEEE VR. We thank the reviewers for their valueable comments.
For the evaluation of our institute, we prepared a new VR demo, in which we can simulate on-orbit servicing tasks including haptic feedback (see VR-OOS project homepage).

Our journal paper on "Multimodal Evaluation of the Differences between Real and Virtual Assemblies" got accepted for publication in the IEEE Transactions on Haptics (ToH). We thank the reviewers and the editors for their valueable comments.
The Bavarian State Minister Mrs. Ilse Aigner visited our lab to hand over a grant for the project SMiLE. She also tested our haptic device HUG (see press release).

I was invited to give a talk on the Clusterworkshop "Virtual und Augmented Reality in der Maschinenentwicklung und -steuerung", which will take place on the 10th of October. My talk will be on the potential of haptic feedback for the industry ("Telepräsenz und Virtual Reality mit haptischem Feedback: Welches Potential hat die Weltraumtechnologie für die Industrie?")

The slides of our workshop of the World Haptic Conference (WHC) are online available now on our workshop website.

For the World Haptic Conference (WHC), René Weller (Universität Bremen) and I organize a workshop on "Haptic Methods and Technologies for Virtual Assembly Simulations". The program is online now on the WHC website.

My PhD thesis is available e.g. at
  - pzh-verlag.de (this publisher also has an online preview of my thesis)
  - amazon.de
  - buchhandel.de

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 fascinating project.

The magazine Helmholtz Perspektiven reports in their cover story "Virtual Reality - Schöne neue Wirklichkeit" (also available as epaper) 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
April 24–28, 2018 Hannover Messe
We will present our new developments around the vibro-tactile device VibroTac. Visit us at the DLR-booth in Hall 2/Booth C57.
Hannover Messe, Hall 2/Booth C57 DLR Handout (in German)
October 10, 2017 Clusterworkshop Virtual und Augmented Reality in der Maschinenentwicklung und -steuerung
I will give a talk on the potential of haptic feedback for the industry ("Telepräsenz und Virtual Reality mit haptischem Feedback: Welches Potential hat die Weltraumtechnologie für die Industrie?")
Ismaning, Germany Flyer


  • STAMAS: Smart technology for artificial muscle applications in space (European Project FP7-SPACE-2012-312815)
  • 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 (European Project FP6-IST-2004-002114)
  • Skills: Multimodal Interfaces for Capturing and Transfer of Skill (European Project FP6-IST-2005-035005FP6-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

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
  • M. Görner, T. Hulin: "Robotersystem", DE102017215166
  • T. Hulin: "Haptische Vorrichtung und Verfahren zur Regelung eines Aktors einer haptischen Vorrichtung", DE102017100101
  • 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), EP2602681B1
  • 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, EP2713983B1

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



This is a chronological list of all my publications. You can also find me on Google Scholar and dblp.

































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's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.


Supervised Theses

  • Ricardo González Camarero:
    Dynamic Simulation and Control of Exoskeletal Devices for an Astronaut’s Hand and Leg
    Master's. CEIT and TECNUN, University of Navarra, 2014. [elib]
  • Alejandro Erick Magana Flores:
    Stability Analysis for a Surgical Simulator
    Diploma. Technische Universität Dresden, 2013. [elib]
  • Johannes Munk:
    Rotational Drive Unit for the DLR bimanual Haptic Device - Integration of Safety Features
    Technical University of Munich, 2013. [elib]
  • Martin Arbesmeier:
    Development of a Multimodal Interface for Teleoperating a Humanoid Robot for Remote Service Tasks
    Master's. Universität Regensburg, 2012. [elib]
  • Gloria Pöhler:
    Evaluierung eines VR Systems zum Erlernen von Roboter-Singularitäten
    Bachelor's. DLR, 2010. [elib]
  • Katharina Hertkorn:
    Erweiterung eines passivitätsbasierten Reglers für haptisches Rendering
    Diploma. Universität Stuttgart, 2009. [elib]
  • Mikel Sagardia:
    Enhancements of the Voxmap-PointShell Algorithm
    Diploma. Universidad de Navarra, Spain, 2008. [elib]
  • Zhongyang Wu:
    Adaption of the Inverse Kinematics of the DLR Light Weight Robot for Its Use as Haptic Device
    Master's. 2007. [elib]
  • Martin Otterbach:
    Software-Werkzeug zur Diskretierung virtueller 3D-Objekte
    Diploma. FH Esslingen, 2005. [elib]


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 Transactions on Mechatronics
  • 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: Montag, 16. April 2018 von Dr.-Ing. Thomas Hulin