Delft Haptics Lab
Delft University of Technology
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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...
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
X-Car Moving Base Driving Simulator
Developed by: Mechanical Engineering Department | Operational since: 2008
X-Car moving base driving simulator High bandwidth (13Hz) hydraulic hexapod motion system 100 deg visuals with 3 LCD screens Projected dashboard Actuated s...
Fixed-base Driving Simulator (HMI Lab)
Developed by: Mark Mulder, René van Paassen & many others | Operational since: 2002
The fixed-base driving simulator facility is located in the HMI lab at the Department of Aerospace Engineering, Control & Simulation Division. It conta...
SIMONA Flight Simulator
Developed by: Rene van Paassen, Max Mulder, Olaf Stroosma | Operational since: 2000
The Simona Flight Simulator is a 6DOF motion-based simulator, developed by the Control & Simulation Department of Aerospace Engineering. http://www.sim...
"ProPrio" - 1 DOF master device
Developed by: Neuromuscular Control Laboratory | Operational since: 1980
The ProPrio manipulator is one of the first of its kind, operational since 1980. A force-controlled haptic manipulator even before the term haptics was c...
Haption Virtuose 6D (FOM DIFFER institute)
Developed by: Haption | Operational since: 2012
The Haption Virtuose 6D master device is available at the Remote Handling Study Centre (RHSC) at FOM DIFFER. The master device is placed in top-down con...
Developed by: Novint | Operational since: 2006
The Novint Falcon is a low-cost ($250) commercial haptic device with three translational Degrees of Freedom. It has a workspace of 10 cm x 10 cm x 10 cm an...
"Phantom Omni" - 6 DOF master device
Developed by: Sensable Technologies | Operational since: 1994
The Phantom Omni is a commercial, portable haptic device with six Degrees of Freedom (DoF) developed by Sensable Technologies. It is based on a serial arch...
Developed by: Moog FCS Robotics |
The HapticMaster is a commercial 3-DoF haptic device developed by Moog FCS Robotics. It was acquired for the H-Haptics programme, and was used in several ...
Haptic Steering Wheel Demo
Developed by: Timo Melman, Sarvesh Kolekar, Sarah Barendswaard | Operational since: April 2017
It used to be that if we wanted to demonstrate our haptic shared control for steering, people needed to come to the fixed-base driving simulator in the H...
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