Delft Haptics Lab

Experimental Devices

In-house developed devices

JOAN: software for human-in-the-loop experiments in a virtual driving simulator
Developed by: Joris Giltay, Olger Siebinga, Andre van der Kraan, Timo Melman, and Niek Beckers | Operational since: 2020 Driving simulators are invaluable tools for studying the interactions between humans and automated vehicles. However, conventional research-grade driving s...
"TriaR" - 3DoF force reflecting joystick
Developed by: Roel J. Kuiper | Operational since: 2016 The TriaR is a 3-DoF force-reflecting joystick, designed by Roel Kuiper to explore control possibilities for subsea telemanipulation. It has several capab...
Parallel Haptic Master Device for Needle Steering
Developed by: Teun Hoevenaars | Operational since: 2015 This 3-DoF parallel haptic master device has been developed by Teun Hoevenaars at the Delft Haptics Lab for the purpose of needle steering, during the H-Ha...
Parallel Haptic Device with 7 Degrees of Freedom
Developed by: Patrice Lambert | Operational since: 2014 This novel parallel architecture provides 6 DOF motion and 1 DOF grasping capabilities while all the motors are located at the base, controlled by a Bachma...
"Gemini" - dual 1 DOF master devices
Developed by: Roel Kuiper, Leroy Boerefijn, Ward Heij, Marijn Flipse, Wilco Vreugdenhil, Kang Wang | Operational since: 2014 (until March 2017) The Gemini are a set of identical 1 DOF haptic manipulators, that can be linked through a Bachmann industrial controller to act as a master-slave tele ma...
"TU Delft Hapkit" - 1 DOF telemanipulator
Developed by: Ids Dijkstra, Mick van de Kant, Jeroen Wildenbeest, Teun Hoevenaars (based on Hapkit) | Operational since: 2014 Like the Gemini, this setup consists of a set of two identical 1 DOF robotic manipulators, that can be linked through a controller to act as a master-slav...
"PentaG" (5 DOF Master Device)
Developed by: Patrice Lambert | Operational since: 2010 and 2012 The 5 DOF PentaG is a robot generating 3T1R motion (3 translations + 1 rotation) plus a linear grasping motion based on the novel concept of parallel rob...
"Munin" - 3 DOF telemanipulator
Developed by: Goran Christiansson | Operational since: 2007 The “Munin” telemanipulation system is a 3-degree of freedom (DOF) haptic teleoperator based on the ”hard-soft” principle. The mechatron...
Ankle Manipulator
Developed by: David Abbink | Operational since: 2002 This haptic ankle manipulator was developed in 2002 by David Abbink during the first year of his PhD thesis, to study neuromuscular behaviour during gas pe...
Haptic Control Units for Maritime Applications
Developed by: Alfons Schure, Frank Hoeckx, Roel Kuiper | Operational since: March 2017 This device has been created for use in the Haptics for the Maritime Environment project. It consists of two actuated joysticks on their separately actuat...

Custom devices we have access to

Commercial devices