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| 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: - STAMAS: Smart technology for artificial muscle applications in space (European Project FP7)
- 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)
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Fields of Interest:
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Control theory for haptic rendering | Human machine interfaces (video) | Virtual product development (video) | Robot simulation and visualization | Skill transfer | Haptic rendering algorithms |
Awards:
- M2M Challenge 2012/2013 - VibroTac is the winner in the category healthcare
- VibroTac is WT Innovation Cup finalist
- DLR Innovation Award 2012 for the VibroTac Technology, S. Schätzle, T. Hulin, T. Ende, T. Wüsthoff, B. Weber, C. Preusche: VibroTac - A Versatile Vibrotactile Feedback Device for the Wrist awarded by the "Gesellschaft von Freunden des Deutschen Zentrums für Luft- und Raumfahrt e.V."
- Short Paper Honorable Mention, IEEE VR 2012, for the article M. Sagardia, B. Weber, T. Hulin, C. Preusche, G. Hirzinger: Evaluation of Visual and Force Feedback in Virtual Assembly Verifications
Publications:
2012
- Hulin, T.; Hertkorn, K.; Preusche, C.: Interactive Features for Robot Viewers, ICIRA 2012, Oct. 2012, Montreal, Quebec, Canada
- Schmirgel, V.; Zimmermann, U.E.; Yechiam, E.;Telpaz, A.; Hulin, T.; Preusche, C.: Training Approaches for Improving Robot Programming-by-Demonstration Skills, Skill Training in Multimodal Virtual Environments, Book Chapter, Editor: Bergamasco, M.; Bardy, B.; Gopher, D., CRC Press, Sep. 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
2003
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Supervised Theses: - Arbesmeier, M.: Development of a Multimodal Interface for Teleoperating a Humanoid Robot for Remote Service Tasks, DLR-IB 515-12-25, Oct. 2012
- Pöhler, G.: Evaluierung eines VR Systems zum Erlernen von Roboter-Singularitäten, DLR-IB 515-10-13, Oct. 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
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