Thomas Hulin DLR (German Aerospace Center) Institute of Robotics and Mechatronics Telepresence Research Group Muenchner Str. 20 D-82234 Wessling, Germany Tel.:+49-8153-28-1306 Fax.:+49-8153-28-1134 E-mail: Thomas.Hulin(at)dlr.de Projects: Haptic rendering for virtual assembly verification Partners: VR-Lab of the Volkswagen AG, Fraunhofer IGD EU Network of Excellence: Enactive Interfaces (IST - 002114) EU Project: Skills (IST - 035005)

---

Fields of Interest:

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

---

Publications:

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)

2011

• Hulin, T.; Preusche, C.; Yechiam, E.; Telpaz, A.; Schmirgel, V.; Zimmermann, Uwe E.: Haptic and Visual Training of System Behavior – a case study for Robotic Programming-by-Demonstration. The International SKILLS Conference 2011, BIO Web of Conferences. DOI: 10.1051/bioconf/20110100039, 15.-16. Dez. 2011, Montpellier, France
• Evreinov, G.; Raisamo, R.; Hulin, T.; Zimmerman, Uwe E.: PbD: Visual Guidance for Robot-Arm Manipulation. The International SKILLS Conference 2011, BIO Web of Conferences. DOI: 10.1051/bioconf/20110100023, 15.-16. Dez. 2011, Montpellier, France
• Weber, B.; Schätzle, S.; Hulin, T.; Preusche, C.; Deml, B.: Evaluation of a Vibrotactile Feedback Device for Spatial Guidance, WorldHaptics Conference (WHC) 2011, June 2011, Istanbul, Turkey
• Hulin, T.; Hertkorn, K.; Kremer, P.; Schätzle, S.; Artigas, J.; Sagardia, M.; Zacharias, F.; Preusche, C.: The DLR Bimanual Haptic Device with Optimized Workspace (Video), ICRA2011, May 2011, Shanghai, China

2010

• 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

2009

• Schmirgel, V.; Zimmermann, U.E.; Yechiam, E.; Hulin, T.; Preusche, C.: Comprehension of Operating a Robot by Enactive Learning: Exemplary Approaches with Programming-by-Demonstration (1,444kB), in SKILLS09 International Conference on Multimodal Interfaces for Skills Transfer, Dec. 2009, Bilbao, Spain
• Sagardia, M.; Hulin, T.; Preusche, C.; Hirzinger, G.: A Benchmark of Force Quality in Haptic Rendering (1,343kB), HCI International 2009, July 2009, San Diego, CA, USA
• Gil, J.J.; Sanchez, E.; Hulin, T.; Preusche, C.; Hirzinger, G.: Stability Boundary for Haptic Rendering: Influence of Damping and Delay, Journal of Computing and Information Science in Engineering, Volume 9, Issue 1, Mar. 2009

2008

• Hulin, T.; Sagardia, M.; Artigas, J.; Schaetzle, S.; Kremer, P.; Preusche, C.: Human-Scale Bimanual Haptic Interface (2,216kB), Enactive08, Nov. 2008, Pisa - Italy
• Preusche, C.; Hulin, T.; Hirzinger, G.: Human Haptic Perception: Basics and Applications, chapter 33: Haptic rendering and control. Birkhäuser Basel, 1st edition, pages 411-426, Oct. 2008
• Sagardia, M.; Hulin, T.; Preusche, C.; Hirzinger, G.: Improvements of the Voxmap PointShell Algorithm – Fast Generation of Haptic Data Structures (837kB), 53rd IWK – Internationales Wissenschaftliches Kolloquium, Sep. 2008, Ilmenau - Germany
• Hulin, T.; Preusche, C.; Hirzinger, G.: Stability Boundary for Haptic Rendering: Influence of Human Operator (272kB), IROS2008, Sep. 2008, Nice - France

2007

• Schmirgel, V.; Zimmermann, U.; Hulin, T.; Preusche, C.: Position Paper: Human Skills for Programming-by-Demonstration of Robots (1,122kB), beyond movement, Dec. 2007, Pisa - Italy
• Hulin, T.; Kremer, P.; Scheibe, R.; Schätzle, S.; Preusche, C.: Evaluating Two Novel Tactile Feedback Devices (935kB), Enactive/07, Nov. 2007, Grenoble - France
• Gil, J.J.; Sanchez, E.; Hulin, T.; Preusche, C.; Hirzinger, G.: Stability Boundary for Haptic Rendering: Influence of Damping and Delay (353kB), ICRA2007, April 2007, Rome - Italy

2006

• Hulin, T.; Gil, J.J.; Sanchez, E.; Preusche, C.; Hirzinger, G.: Experimental Stability Analysis of a Haptic System (221kB), Enactive/06, Nov. 2006, Montpellier - France
• Hulin, T.; Preusche, C.; Hirzinger, G.: Stability Boundary for Haptic Rendering: Influence of Physical Damping (324kB), IROS2006, Oct. 2006, Beijing - China
• Bajcinca, N.; Hulin, T.: Menge aller robust stabilisierenden PID-Regler: Methodik und Software (Teil III) (418kB), Automatisierungstechnik, Oct. 2006
• Hulin, T.; Preusche, C.; Hirzinger, G.: Stability Boundary and Design Criteria for Haptic Rendering of Virtual Walls (241kB), Syroco, Sep. 2006, Bologna - Italy
• Schaetzle, S.; Hulin, T.; Preusche, C.; Hirzinger, G.: Evaluation of Vibro-Tactile Feedback to the Human Arm, EuroHaptics, July 2006, Paris - France
• Bajcinca, N.; Hulin, T.: Menge aller robust stabilisierenden PID-Regler: Methodik und Software (Teil II) (231kB), Automatisierungstechnik, May 2006

2005

• Bajcinca, N.; Hulin, T.: RobSin: Software-Werkzeug zum Entwurf robuster PID-Regler, internal report: DLR-IB 515-2005/18, Dec. 2005
• Bajcinca, N.; Hulin, T.: Menge aller robust stabilisierenden PID-Regler: Methodik und Software (Teil I) (326kB), Automatisierungstechnik, Nov. 2005
• Hulin, T.; Preusche, C.; Hirzinger, G.: Haptic Rendering for Virtual Assembly Verification (Poster) (2,971kB), WorldHaptics Conference 2005, Mar. 2005, Pisa - Italy

2004

• Bajcinca, N.; Hulin, T.: RobSin: A New Tool for Robust Design of PID and Three-Term Controllers based on Singular Frequencies (194kB), Proc. of CACSD/ISIC/CCA 2004, Sep. 2004, Taipei - Taiwan

2003

• Hulin, T.: Software-Werkzeug zur Auslegung von robusten PID-Reglern (1,167kB), diploma thesis, Sep. 2003, Munich - Germany

 

---

 

Supervised Theses: Pöhler, G.: Evaluierung eines VR Systems zum Erlernen von Roboter-Singularitäten, DLR-IB 515-10-13, Okt. 2010 Hertkorn, K.: Erweiterung eines passivitätsbasierten Reglers für haptisches Rendering, DLR-IB 515-09-02, Feb. 2009 Sagardia, M.: Enhancements of the Voxmap-PointShell Algorithm, DLR-IB 515-08-04, March 2008 Wu, Z.: Adaptation of the Inverse Kinematics of the DLR Light Weight Robot for Its Use as Haptic Device, DLR-IB 515-07-37, Oct. 2007 Otterbach, M.: Software-Werkzeug zur Diskretisierung virtueller 3D-Objekte, DLR-IB 515-05-05, June 2005