Delft Haptics Lab

Projects

Understanding the human as a controller

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  Haptics for body-powered prosthesis

  Human Motion Control | 2012-2016 (PhD Project, Completed)
  Lead: Mona Hichert
  This PhD Project was performed by Mona Hitherto, under supervision of Dick Plettenburg, DirkJan Veeger, and David Abbink.
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  Measuring, Modeling and Mitigating Biodynamic Feedthrough

  Human Motion Control | 2010-2014 (PhD Project, Completed)
  Lead: Joost Venrooij
  This PhD project was completed by Joost Venrooij, when he graduated cum laude in march 2014. The thesis led to 9 journal publications and 9 conference publ...
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  Neuromuscular Analysis of a Haptic Gas Pedal for Car Following

  Human Motion Control | 2002-2006 (PhD Project, Completed)
  Lead: David Abbink
  David Abbink worked together with Mark Mulder towards a PhD thesis on the “Magic Bumper” project, sponsored by Nissan Motor Company. The goal w...
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  Effect of environment on Driver Behaviour

  Human Motion Control | 2016-2020 (PhD project, Active)
  Lead: Sarvesh Kolekar
  While driving in day to day life, humans encounter several situations to whom they adapt. The goal of this project is to find the underlying principles tha...
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  Identification of Adaptive Driver Behaviour

  Human Motion Control | 2016-2020 (PhD project, Active)
  Lead: Sarah Barendswaard
  This PhD project is performed by Sarah Barendswaard, under supervision of David Abbink and Daan Pool.
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  Effective Control Interfaces and Shared Control for Telemanipulation

  Human Motion Control | 2011-2016 (PhD Project, Active)
  Lead: Jeroen Wildenbeest
  Telemanipulators are robotic devices which allow human operators to perform complex tasks in hostile environments (e.g. space, nuclear) or environments wit...

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  Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies

  Human Motion ControlNovel human-machine interaction | 2015-2016 (MSc Project, Completed)
  Lead: Timo Melman
  An important issue in road traffic safety is that drivers show adverse behavioral adaptation (BA) to driver assistance systems. Haptic steering guidance is...
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  Influence of steering wheel stiffness and road width on drivers’ neuromuscular stiffness

  Human Motion Control | 2015 (MSc Project, Completed)
  Lead: Nienke van Driel
  Nienke van Driel worked on this MSc thesis project, and graduated cum laude in december 2015. She was supervised by David Abbink, Tricia Gibo and Jeroen Wi...
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  Human-like steering model based on sensorimotor control theories

  Human Motion Control | 2015-2016 (MSc Project, Completed)
  Lead: Sarvesh Kolekar
  Sarvesh Kolekar worked on this MSc thesis project, and defended it in january 2016, with a 9.5. He was supervised by Winfred Mugge and David Abbink. Abstr...
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  A-priori Inertia Estimation from Weight

  Human Motion Control | 2013-2015 (MSc Project, Completed)
  Lead: Lotte Grootveld
  This MSc project was executed by Lotte Grootveld, supervised by Jack Schorsch and David Abbink. Lotte graduate in July 2015. Abstract Robotic lifting aids ...
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  Understanding and Reducing Conflicts between Driver and Haptic Shared Control

  Human Motion Control | 2012-2014 (MSc Project, Completed)
  Lead: Rolf Boink
  Rolf Boink graduated on this Msc project, supervised by Rene van Paassen and David Abbink. MSc thesis Abstract Haptic driver support systems aim to guide d...
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  Rubber Hand Illusion for Telemanipulation

  Human Motion Control | 2013-2015 (MSc Project, Completed)
  Lead: Lloyd Wajon
  This MSc project aims to investigate to what extent telemanipulation may benefit from a body transfer illusion (similar to the famous “rubber hand i...
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  Learning a Slow Dynamic System: Training Enhancement by Haptic Shared Control

  Human Motion Control | 2012-2013 (MSc Project, Completed)
  Lead: Vincent Honing
  This MSc project was performed by Vincent Honing, supervised by Roel Kuiper and David Abbink. His thesis resulted in a conference paper.
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  The power of haptic guidance

  Human Motion Control | 2010-2011 (MSc project, Completed)
  Lead: Stephan de Nijs
  With haptic guidance drivers obtain information through force feedback on, for example, the steering wheel. This has been shown to result in improved prim...
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  Improving the Quality of Haptic Feedback Yields Only Marginal Improvements in Teleoperated Task Performance

  Human Motion Control | 2009-2010 (MSc Project, Completed)
  Lead: Jeroen Wildenbeest
  In teleoperation, haptic feedback allows the human operator to touch the remote environment. Yet, it is only partially understood to what extent the quali...
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  The effect of roadside furniture on driving behaviour

  Human Motion Control | 2018-2019 (MSc Project, Active)
  Lead: David Abbink
  In this master thesis project the effect of different kinds or roadside furniture on driving behaviour will be investigated. Through the application and i...

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  Responsible adaptation of lane-keeping assistance

  Human Motion Control | 2016-2018 (Research Project, Completed)
  Lead: Timo Melman
  Lane-keeping assistance that avoids a driver’s need for speed

Developing novel human-machine interaction

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  Analysis and optimization of tele-operated task performance of ITER Remote Handling

  Novel human-machine interaction | 2011-2017 (PhD Project, Completed)
  Lead: Henri Boessenkool
  This PhD project is performed by Henri Boessenkool, supervised by Maarten Steinbuch, Marco de Baar and David Abbink. It is funded through the GOT programme...
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  Haptic Gas Pedal Feedback for Active Car-Following Support

  Novel human-machine interaction | 2002-2007 (PhD project, Completed)
  Lead: Mark Mulder
  
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  Haptic Shared Control for Multi-operator Telemanipulation

  Novel human-machine interaction | 2012-2016 (PhD Project, Active)
  Lead: Jeroen van Oosterhout
  A subset of tele-manipulation tasks requires a pair of operators acting simultaneously to dynamically manoeuvre and align objects. The problem in such co...
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  Haptic Shared Control for Sub-Sea Mining

  Novel human-machine interaction | 2012-2017 (PhD Project, Active)
  Lead: Roel Kuiper
  This PhD project is performed by Roel Kuiper, under supervision of David Abbink and Frans van der Helm, in close co-operation with Seatools. Abstract Remo...
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  Haptic Shared Control for a Lifting Aid in Care environments

  Novel human-machine interaction | 2011-2015 (PhD Project, Active)
  Lead: Jack Schorsch
    The aim of Jack Schorsch’s PhD project is to realize a breakthrough in the physical support of healthcare workers for lifting and assisting pa...

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  Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies

  Human Motion ControlNovel human-machine interaction | 2015-2016 (MSc Project, Completed)
  Lead: Timo Melman
  An important issue in road traffic safety is that drivers show adverse behavioral adaptation (BA) to driver assistance systems. Haptic steering guidance is...
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  Machine Learning for Haptic Shared Control in Telerobotics

  Novel human-machine interaction | 2015-2016 (MSc Project, Completed)
  Lead: Frank Hoeckx
  Teleoperation involves performing tasks in a remote environment by controlling a robot from a distance. These tasks are hard to perform due to e.g. limited...
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  Haptic Shared Control in Deep Sea Mining – Enhancing Teleoperation of a Subsea Crawler

  Novel human-machine interaction | 2013-2014 (MSc Project, Completed)
  Lead: Kang Wang
  Kang Wang graduated on this MSc project, supervised by Roel Kuiper, Tricia Gibo and David Abbink. Abstract— Deep sea mining is currently being investigat...
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  Haptic Manipulation with UAV

  Novel human-machine interaction | 2015 (MSc Project, Completed)
  Lead: Graham Nixon
  The MSc graduation project of Graham Nixon involves the construction of an experimental platform to evaluate different interfaces for haptic manipulation ...
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  Hybrid design combining position and rate control allows intuitive workspace extension for teleoperation

  Novel human-machine interaction | 2014-2015 (MSc Project, Completed)
  Lead: Marjon Voskuil
  A common method to obtain workspace extension of the slave’s workspace is through rate control because it has an unlimited workspace of the slave. Howev...
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  Design of an arm support for a powered lifting aid for caregivers

  Novel human-machine interaction | 2013-2014 (MSc Project, Completed)
  Lead: Vid Stiglic
  This MSc project looked at the work currently done by caregivers and the state and needs of their clients. Market research looked at the devices currently ...
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  Haptically Supporting Car Driving: Optimizing or Satisficing?

  Novel human-machine interaction | 2013-2014 (MSc Project, Completed)
  Lead: Private: Bastiaan Petermeijer
  This MSc project was performed by Bastiaan Petermeijer, under the supervision of David Abbink and Joost de Winter. Background: A principal design choice in...
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  Haptic Support Systems for Curve Negotiation in a Driving Simulator

  Novel human-machine interaction | 2012 (MSc Project, Completed)
  Lead: Luca Profumo
  In this MSc project, Luca Profumo performed a comparison between two approaches for providing shared control: a method developed at the Delft Haptics Lab (...
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  Does neuromuscular stiffness increase when lateral manoeuvring time decreases in car driving?

  Novel human-machine interaction | 2013-2014 (MSc Project, Completed)
  Lead: Daan van der Wiel
  This MSc project was performed by Daan van der Wiel, under supervision of David Abbink and Mark Mulder. He aims to gain insight into the question whether...
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  Robustness of Haptic Shared Control Against Model Inaccuracies During Telemanipulation

  Novel human-machine interaction | 2012 (MSc Project, Completed)
  Lead: Jeroen van Oosterhout
  This MSc project was performed by Jeroen van Oosterhout, under supervision of David Abbink. Abstract To improve teleoperated task performance and control e...
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  The Effect of Online Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks

  Novel human-machine interaction | 2012 (MSc Project, Completed)
  Lead: Arnold de Jonge
  This MSc project was performed by Arnold de Jonge, under supervision of Jeroen, Henri and David. His thesis led to a journal paper in Transactions on Hapti...
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  Opening doors with a remotely controlled mobile robot, using shared control and underactuated grasping

  Novel human-machine interaction | 2011-2012 (MSc Project, Completed)
  Lead: Atli Sverisson
  Recent disasters, the nuclear meltdown of the Fukushima reactors and the Gulf of Mexico oil spill, have shown us the importance of robotics and how we lack...
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  Natural Force Feedback and Haptic Shared Control on Rate and Force Control of a Deep Sea Mining Suspended Grab

  Novel human-machine interaction | 2011-2012 (MSc Project, Completed)
  Lead: Roel Kuiper
  
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  Haptic shared control improves teleoperated task performance towards performance in direct control

  Novel human-machine interaction | 2009-2011 (MSc Project, Completed)
  Lead: Henri Boessenkool
  The research was focussed on the improvement of human-machine interaction and task performance when working with a tele-manipulator. The work was initiated...
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  Development of a Haptic Interface for Evasive Maneuvers

  Novel human-machine interaction | 2008-2009 (MSc project, Completed)
  Lead: Mauro della Penna
  This MSc project was performed by Mauro della Penna. He graduated cumin laude on this thesis, which was nominated for best automotive thesis (Spyker Award)...
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  Development of a Haptic Feedback Transition Algorithm for Lane Changes Using Neuromusculoskeletal Modeling

  Novel human-machine interaction | 2008-2009 (MSc Project, Completed)
  Lead: Kakin Tsoi
  In August 2009, Kakin Tsoi graduated cum laude on the MSc thesis “Development of a Haptic Feedback Transition Algorithm for Lane Changes Using Neurom...

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  Haptic feedback for learning and performance

  Novel human-machine interaction | 2014-2017 (Post-Doc Project, Completed)
  Lead: Tricia Gibo
  This postdoc project is performed by Tricia Gibo, in co-operation with David Abbink. Abstract Haptic feedback, in the form of both natural force feedback ...
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  Haptics for the Maritime Environment

  Novel human-machine interaction | 2016 - current (Research Collaboration, Active)
  Lead: Arthur Vrijdag
  This research started as a featured ‘cohesion grant’ initiative, which aims to stimulate new co-operations between departments within the fac...

Developing haptic manipulators

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  Mechatronic Optimization of Parallel Haptic Master Devices

  Developing haptic manipulators | 2012-2016 (PhD Project, Completed)
  Lead: Teun Hoevenaars
  In telemanipulation systems, an operator directly controls a robotic manipulator located at a remote location. The robotic manipulator is called the slave ...

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  Model-Based Control of a Parallel Haptic Master Device

  Developing haptic manipulators | 2013-2015 (Msc Project, Completed)
  Lead: Alfons Schure
  A haptic master device forms the interface between an operator and a remote environment for the exchange of forces and the coupling of position. Ideally th...
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  Rendering 6-DOF Object-to-Object Interaction with 3-DOF Haptic Interfaces

  Developing haptic manipulators | 2013-2014 (MSc Project, Completed)
  Lead: Lionel Lee
  Abstract of MSC thesis Three degree-of-freedom (3-DOF) tool-based haptic interfaces are widely used in virtual environments as an affordable way to train ...
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  Cable Driven Haptic Gripper

  Developing haptic manipulators | 2015-2016 (Msc Project, Active)
  Lead: Kashmira Jadhao
  A telemanipulation system allows an operator to perform a task over a distance. The interface with the operator is called a master device. Most existing ma...
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  Optimal Component Selection for Haptic Master Device

  Developing haptic manipulators | 2015-2016 (Msc Project, Active)
  Lead: Erik Jansen
  A haptic master device is a mechatronic system, part of a telemanipulation system, that acts as a force- and position interface between a human and a remot...

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  Design of Haptic Devices Based on Parallel Robots

  Developing haptic manipulators | 2011-2014 (Post-Doc Project, Completed)
  Lead: Patrice Lambert
  Parallel robots are mechanical systems that use several parallel kinematic chains to control a platform in force or in position. Thanks to their closed-loo...