Delft Haptics Lab

Experimental Devices

In-house developed devices

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  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...
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  "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...
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  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...
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  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...
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  "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...
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  "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...
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  "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...
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  "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...
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  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...
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  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

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  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...
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  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...
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  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...
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  "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...

Commercial devices

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  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...
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  Falcon

  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...
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  "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...
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  HapticMaster

  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 ...
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  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...