Finished MSc projects
Click on any of the following MSc project to learn more, and download the thesis (if possible) and related publications.
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Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies
An important issue in road traffic safety is that drivers show adverse behavioral adaptation (BA) to driver assistance systems. Haptic steering guidance is an upcoming assistance system which facilitates lane-keeping performance while keeping drivers in the loop, and which may be particularly prone to BA. Thus far, experiments on haptic steering guidance have measured driver […] More information
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Machine Learning for Haptic Shared Control in Telerobotics
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 visual and haptic feedback from the remote environment. In order to improve task execution the operator can be supported by means of augmented guidance forces. More specifically, in Haptic Shared […] More information
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Influence of steering wheel stiffness and road width on drivers’ neuromuscular stiffness
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 Wildenbeest. MSc Thesis Abstract New technologies like electric power steering and steer-by-wire have made it possible to freely shape the steering wheel dynamics. As the driver is part of the closed-loop […] More information
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Human-like steering model based on sensorimotor control theories
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. Abstract Current driver models have two main drawbacks. Firstly, different frameworks are used to model steering behaviour in routine and emergency scenarios. Secondly, there is within subject variability in human […] More information
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Haptic Shared Control in Deep Sea Mining – Enhancing Teleoperation of a Subsea Crawler
Kang Wang graduated on this MSc project, supervised by Roel Kuiper, Tricia Gibo and David Abbink. Abstract— Deep sea mining is currently being investigated as a possibility to harvest valuable materials from mineral-rich areas located in water depths up to 2000 meters. One promising mining method is to employ a large crawler on the seabed, remotely controlled […] More information
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Haptic Manipulation with UAV
The MSc graduation project of Graham Nixon involves the construction of an experimental platform to evaluate different interfaces for haptic manipulation with Unmannen Aerial Vehicles (also known as drones). More information
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A-priori Inertia Estimation from Weight
This MSc project was executed by Lotte Grootveld, supervised by Jack Schorsch and David Abbink. Lotte graduate in July 2015. Abstract Robotic lifting aids aim to reduce the forces on the operator, but may thereby also change the experienced dynamics of the lifted object. In the case of weight compensation, the experienced ratio between object’s […] More information
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Hybrid design combining position and rate control allows intuitive workspace extension for teleoperation
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. However, when contact interaction with the remote environment is needed, position control is often proposed due to the force feedback. To benefit from the strengths of both of these control types, hybrid designs […] More information
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Rendering 6-DOF Object-to-Object Interaction with 3-DOF Haptic Interfaces
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 operators, as well as for virtual prototyping and design. In some special cases with higher requirements on haptic fidelity, the tool needs to be modeled as an object with real volume rather than a single […] More information
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Design of an arm support for a powered lifting aid for caregivers
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 in use in the caregiving industry and a technology review examined existing exoskeletons, built for various purposes (from rehabilitation to military). Special attention was given to ergonomics of lifting […] More information
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Understanding and Reducing Conflicts between Driver and Haptic Shared Control
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 drivers with steering using assistance torques. Many such systems generate torques using a simplified and constant lane-keeping model based on a look-ahead controller, without accounting for individual differences. Literature on haptic steering support shows beneficial […] More information
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Haptically Supporting Car Driving: Optimizing or Satisficing?
This MSc project was performed by Bastiaan Petermeijer, under the supervision of David Abbink and Joost de Winter. Background: A principal design choice in providing steering wheel force feedback to assist drivers during lane-keeping is whether feedback should be provided for any error with respect to the lane centre (continuous feedback) or only when acceptable tolerance limits […] More information
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Rubber Hand Illusion for Telemanipulation
This MSc project aims to investigate to what extent telemanipulation may benefit from a body transfer illusion (similar to the famous “rubber hand illusion”). Lloyd Wajon has adapted the Munin tele-manipulator by mounting an artificial hand on the slave side. Now subjects can experience their own hand projected to the slave side, which we hypothesize can improve […] More information
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Learning a Slow Dynamic System: Training Enhancement by Haptic Shared Control
This MSc project was performed by Vincent Honing, supervised by Roel Kuiper and David Abbink. His thesis resulted in a conference paper. More information
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Haptic Support Systems for Curve Negotiation in a Driving Simulator
In this MSc project, Luca Profumo performed a comparison between two approaches for providing shared control: a method developed at the Delft Haptics Lab (here called Direct Haptic Aiding) and a method developed at the University of Pisa (here called Indirect Haptic Aiding). He did a driving simulator study at the HMI Lab to compare the […] More information
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Does neuromuscular stiffness increase when lateral manoeuvring time decreases in car driving?
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 neuromuscular stiffness increases when lateral manoevring time decreases. Daan performed his experiments in the fixed base driving simulator in the HMI lab and successfully defended his thesis. More information
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Robustness of Haptic Shared Control Against Model Inaccuracies During Telemanipulation
This MSc project was performed by Jeroen van Oosterhout, under supervision of David Abbink. Abstract To improve teleoperated task performance and control effort, haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an automated controller. But previous research tested such shared control on tasks that were […] More information
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The Effect of Online Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks
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 Haptics. For the Haptics Symposium 2016, this journal paper was selected as one of four papers to be presented in a special slot in the symposium; which Tricia Gibo […] More information
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Opening doors with a remotely controlled mobile robot, using shared control and underactuated grasping
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 knowledge in that field, at least outside a constructed environment. A bit more frequent and smaller disasters are burning houses. Firefighters risk their own lives by going into […] More information
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Influence of the Hyperbaric Effect on Apparent Material Strength of Fully Saturated Porous Rock
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Natural Force Feedback and Haptic Shared Control on Rate and Force Control of a Deep Sea Mining Suspended Grab
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Haptic shared control improves teleoperated task performance towards performance in direct control
The research was focussed on the improvement of human-machine interaction and task performance when working with a tele-manipulator. The work was initiated by remote maintenance research for the fusion reactor ITER: In tele-operation, haptic feedback from the remote environment to the human is often limited, which has been shown to negatively influence the performance and […] More information
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Improving the Quality of Haptic Feedback Yields Only Marginal Improvements in Teleoperated Task Performance
In teleoperation, haptic feedback allows the human operator to touch the remote environment. Yet, it is only partially understood to what extent the quality of haptic feedback contributes to human-in-the-loop task performance. This paper presents a human factors experiment in which teleoperated task performance and control effort are assessed for a typical (dis-)assembly task in a hard-to-hard environment, […] More information
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Development of a Haptic Feedback Transition Algorithm for Lane Changes Using Neuromusculoskeletal Modeling
In August 2009, Kakin Tsoi graduated cum laude on the MSc thesis “Development of a Haptic Feedback Transition Algorithm for Lane Changes Using Neuromusculoskeletal Modeling”. He subsequently won the Spykerprijs 2009-2010 with his thesis. Abstract Haptic guidance on the steering wheel has been shown to be useful in supporting drivers during lane keeping and curve negotiation. One […] More information