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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.

ESA astronaut Luca Parmitano today successfully carried out a telerobotic experiment and took control of an ESA rover from the space station ISS. Our telemanipulation control framework provided stable haptic feedback during the task:
We are looking for students who want to build a novel mobile robot platform for the factory of the future. Further information can be found at rmc.dlr.de/swarmrail.
It is a great honor to have been appointed as associate editor for the IEEE ICRA 2020. I look forward to supporting the world's largest robotics conference.
The IEEE-Spectrum included our haptic device HUG on their Video Friday.
The IROS-workshop on "Legacy Disruptors in Applied Telerobotics" was accepted. I will contribute with a talk on "Control Concepts for VR-Based Haptic Telemanipulation".
Our patent "Robotersystem" (DE102017215166) was granted.
Our paper on "Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton" got accepted or publication on the ICRA conference. We thank the reviewers for their valuable comments.
The Center for Tactile Internet (CeTI) is now alive. Looking forward to an inspiring collaboration.
Our paper on "Space Factory 4.0 - New processes for the robotic assembly of modular satellites on an in-orbit platform based on Industrie 4.0 approach" was presented on the International Astronautical Congress (IAC).
Our paper on "Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward" got accepted for publication on the SYROCO conference. We thank the reviewers for their valuable comments.

  • CeTI: Centre for Tactile Internet with Human-in-the-Loop, Cluster of Excellence at TU Dresden
  • Space Factory 4.0: In-orbit factory for building small satellites (Förderkennzeichen: 50RP1712)
  • 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
  • T. Hulin, M. Görner: "Robotorsystem", DE 10 2020 103 303 (patent pending)
  • F. Grimmel, F. Benedikt, M. Görner, T. Hulin, B. Pleintinger: "Robotersystem", DE 10 2019 124 717 (patent pending)
  • T. Hulin, B. Pleintinger: "Manipulator" DE 10 2019 124 358 (patent pending)
  • S. Schätzle, T. Hulin: "Orientierungshilfe für eine Person mit eingeschränktem Sehvermögen" DE 10 2018 107 970 (granted)
  • M. Görner, T. Hulin: "Robotersystem", DE 10 2017 215 166 (granted)
  • T. Hulin: "Haptische Vorrichtung und Verfahren zur Regelung eines Aktors einer haptischen Vorrichtung", DE 10 2017 100 101 (granted)
  • T. Hulin, S. Schätzle: "Vorrichtung und Verfahren zum Erzeugen eines taktilen Reizes" (Aktiver Fingerhut zur Generierung taktilen Feedbacks), DE 10 2016 111 634 (granted)
  • K. Hertkorn, T. Hulin, C. Preusche: "Verfahren zum Steuern eines Roboters" (Method for controlling robot), DE 10 2012 205 279 (not granted)
  • T. Hulin, S. Jörg, J. Klodmann, R. Konietschke: "Verfahren zum Steuern eines Telemanipulations-Roboters" (Method for telemanipulating a robot), EP2602681B1 (granted)
  • T. Ende, T. Hulin, C. Preusche, S. Schätzle, T. Wüsthoff: "Orientierungshilfe für Personen mit eingeschränktem Sehvermögen" (Orientation aid for persons having limited visual faculty), DE 10 2011 076 891, EP2713983B1 (granted)

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.


  • T. Hulin, M. Rothammer, I. Tannert, S. Subramanyam Giri, B. Pleintinger, H. Singh, B. Weber, C. Ott: FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications, HCI International 2020, July 2020, Copenhagen, Denmark
  • M. Görner, F. Benedikt, F. Grimmel, T. Hulin: SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation, IEEE ICRA 2020, May 2020, Paris, France




































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Supervised Theses

  • Ferdinand Grimmel:
    Programmierung eines Mikrocontrollers zur Ansteuerung mobiler robotischer Einheiten für das SwarmRail-System
    Bachelor's. Hochschule für angewandte Wissenschaften München, 2019. [elib]
  • Fabian Benedikt:
    Konzeption und Konstruktion einer mobilen robotischen Einheit für das SwarmRail-System
    Bachelor's. Hochschule für angewandte Wissenschaften München, 2019. [elib]
  • 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.


Service and Volunteer Activities


  • Associate Editor (AE) for the IEEE ICRA 2020
  • Co-organizer of the Worldhaptics 2017 half-day workshop on "Haptic Methods and Technologies for Virtual Assembly Simulations", speakers: Ralf Rabätje (vr-on), Jérôme Perret (haption), Rene Weller (University of Bremen), Bernhard.Weber (DLR), Thomas Hulin (DLR)
  • Member of the Programme Committee of the VRAR Workshop 2016
  • Member of the Programme Committee of the GI VR/AR 2015
  • Member of the Editorial board for the Institute of Robotics and Mechatronics web site

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.


Useful Stuff

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





Zuletzt aktualisiert: Mittwoch, 24. Juni 2020 von Dr.-Ing. Thomas Hulin