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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 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.
The telerobotic technology HUG can be used for care applications, too. Come and visit our live demo at the Automatica trade fair.
We present our novel vibro-tactile device at the Hannover trade fair.
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).

  • 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
  • S. Schätzle, T. Hulin: "Orientierungshilfe für eine Person mit eingeschränktem Sehvermögen" DE1020181079702 (patent pending)
  • M. Görner, T. Hulin: "Robotersystem", DE102017215166 (patent pending)
  • T. Hulin: "Haptische Vorrichtung und Verfahren zur Regelung eines Aktors einer haptischen Vorrichtung", DE102017100101 (patent pending)
  • T. Hulin, S. Schätzle: "Vorrichtung und Verfahren zum Erzeugen eines taktilen Reizes" (Aktiver Fingerhut zur Generierung taktilen Feedbacks), DE102016111634 (patent pending)
  • K. Hertkorn, T. Hulin, C. Preusche: "Verfahren zum Steuern eines Roboters" (Method for controlling robot), DE102012205279 (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), DE102011076891, 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.

































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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: Freitag, 01. Februar 2019 von Dr.-Ing. Thomas Hulin