RobSin: a new tool for robust design of PID and three-term controllers based on singular frequencies. - Naim Bajçinca; Thomas Hulin (CCA, 2004)

Menge aller robust stabilisierenden PID-Regler: Methodik und Software (Teil I) (The Set of All Robust Stabilizing PID Controllers: Methods and Software (Part I)). - Naim Bajçinca; Thomas Hulin (Autom., 2005)

Stability Boundary for Haptic Rendering: Influence of Physical Damping. - Thomas Hulin; Carsten Preusche; Gerd Hirzinger (IROS, 2006)

Menge aller robust stabilisierenden PID-Regler: Methodik und Software (Teil II) (The Set of All Robust Stabilizing PID Controllers: Methods and Software (Part II)). - Naim Bajçinca; Thomas Hulin (Autom., 2006)

Menge aller robust stabilisierenden PID-Regler: Methodik und Software (Teil III) (The Set of All Robust Stabilizing PID Controllers: Methods and Software (Part III)). - Naim Bajçinca; Thomas Hulin (Autom., 2006)

Stability boundary for haptic rendering: Influence of human operator. - Thomas Hulin; Carsten Preusche; Gerd Hirzinger (IROS, 2008)

Stability Boundary for Haptic Rendering: Influence of Damping and Delay. - Jorge Juan Gil; Emilio Sánchez; Thomas Hulin; Carsten Preusche; Gerd Hirzinger (J. Comput. Inf. Sci. Eng., 2009)

Time Domain Passivity Control for multi-degree of freedom haptic devices with time delay. - Katharina Hertkorn; Thomas Hulin; Philipp Kremer; Carsten Preusche; Gerd Hirzinger (ICRA, 2010)

Workspace comparisons of setup configurations for human-robot interaction. - Franziska Zacharias; Ian S. Howard; Thomas Hulin; Gerd Hirzinger (IROS, 2010)

Evaluating exemplary training accelerators for Programming-by-Demonstration. - Thomas Hulin; Volker Schmirgel; Eldad Yechiam; Uwe E. Zimmermann; Carsten Preusche; Gloria Pöhler (RO-MAN, 2010)

A benchmarking suite for 6-DOF real time collision response algorithms. - René Weller; Mikel Sagardia; David Mainzer; Thomas Hulin; Gabriel Zachmann; Carsten Preusche (VRST, 2010)

Evaluation of a vibrotactile feedback device for spatial guidance. - Bernhard M. Weber; Simon Schätzle; Thomas Hulin; Carsten Preusche; Barbara Deml (World Haptics, 2011)

The DLR bimanual haptic device with optimized workspace. - Thomas Hulin; Katharina Hertkorn; Philipp Kremer; Simon Schätzle; Jordi Artigas; Mikel Sagardia; Franziska Zacharias; Carsten Preusche (ICRA, 2011)

Interactive Features for Robot Viewers. - Thomas Hulin; Katharina Hertkorn; Carsten Preusche (ICIRA (3), 2012)

Evaluation of visual and force feedback in virtual assembly verifications. - Mikel Sagardia; Bernhard M. Weber; Thomas Hulin; Gerd Hirzinger; Carsten Preusche (VR, 2012)

Visual, Vibrotactile, and Force Feedback of Collisions in Virtual Environments: Effects on Performance, Mental Workload and Spatial Orientation. - Bernhard M. Weber; Mikel Sagardia; Thomas Hulin; Carsten Preusche (HCI (18), 2013)

Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot. - Thomas Hulin; Ricardo Gonzalez Camarero; Alin Albu-Schäffer (IROS, 2013)

Fast and accurate distance, penetration, and collision queries using point-sphere trees and distance fields. - Mikel Sagardia; Thomas Hulin (SIGGRAPH Posters, 2013)

An interactive virtual reality system for on-orbit servicing. - Mikel Sagardia; Katharina Hertkorn; Thomas Hulin; Robin Wolff; Johannes Hummel; Janki Dodiya; Andreas Gerndt (VR, 2013)

A study of street-level navigation techniques in 3D digital cities on mobile touch devices. - Jacek Jankowski; Thomas Hulin; Martin Hachet (3DUI, 2014)

Passivity and Stability Boundaries for Haptic Systems With Time Delay. - Thomas Hulin; Alin Albu-Schäffer; Gerd Hirzinger (IEEE Trans. Control. Syst. Technol., 2014)

Integrating Measured Force Feedback in Passive Multilateral Teleoperation. - Michael Panzirsch; Thomas Hulin; Jordi Artigas; Christian Ott 001; Manuel Ferre (EuroHaptics (1), 2016)

A fast and robust Six-DoF god object heuristic for haptic rendering of complex models with friction. - Mikel Sagardia; Thomas Hulin (VRST, 2016)

A platform for bimanual virtual assembly training with haptic feedback in large multi-object environments. - Mikel Sagardia; Thomas Hulin; Katharina Hertkorn; Philipp Kremer; Simon Schätzle (VRST, 2016)

Evaluation of a penalty and a constraint-based haptic rendering algorithm with different haptic interfaces and stiffness values. - Mikel Sagardia; Thomas Hulin (VR, 2017)

A Practically Linear Relation Between Time Delay and the Optimal Settling Time of a Haptic Device. - Thomas Hulin (IEEE Robotics Autom. Lett., 2017)

VibroTac S: An Electronic Assistive Device for Blind and Visually Impaired People to Avoid Collisions. - Simon Schätzle; Thomas Hulin; Benedikt Pleintinger (IHSED, 2018)

Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward. - Shamel Fahmi; Thomas Hulin (SyRoCo, 2018)

Realtime Collision Avoidance for Mechanisms with Complex Geometries. - Mikel Sagardia; Alexander Martin Turrillas; Thomas Hulin (VR, 2018)

Multimodal Evaluation of the Differences between Real and Virtual Assemblies. - Mikel Sagardia; Thomas Hulin (IEEE Trans. Haptics, 2018)

Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton. - Aaron Pereira; Georg Stillfried; Thomas Baker; Annika Schmidt; Annika Maier; Benedikt Pleintinger; Zhaopeng Chen; Thomas Hulin; Neal Y. Lii (ICRA, 2019)

FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications. - Thomas Hulin; Michael Rothammer; Isabel Tannert; Suraj Subramanyam Giri; Benedikt Pleintinger; Harsimran Singh; Bernhard M. Weber; Christian Ott 001 (HCI (10), 2020)

SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation. - Martin Görner; Fabian Benedikt; Ferdinand Grimmel; Thomas Hulin (ICRA, 2020)

Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity Approach. - Harsimran Singh; Michael Rothammer; Chan-Il Lee; Thomas Hulin; Jee-Hwan Ryu; Christian Ott 001 (ISER, 2020)

Model Mediated Teleoperation with a Hand-Arm Exoskeleton in Long Time Delays Using Reinforcement Learning. - Hadi Beik-Mohammadi; Matthias Kerzel; Benedikt Pleintinger; Thomas Hulin; Philipp Reisich; Annika Schmidt; Aaron Pereira; Stefan Wermter; Neal Y. Lii (RO-MAN, 2020)

Enabling Interaction with Virtual Fluids and Mixed Media using a High Dexterity Hand Exoskeleton. - Annika Schmidt; Aaron Pereira; Thomas Baker; Benedikt Pleintinger; Thomas Hulin; Zhaopeng Chen; David A. Abbink; Neal Y. Lii (SMC, 2020)

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. - Thomas Hulin; Michael Panzirsch; Harsimran Singh; Andre Coelho; Ribin Balachandran; Aaron Pereira; Bernhard M. Weber; Nicolai Bechtel; Cornelia Riecke; Bernhard Brunner; Neal Y. Lii; Julian Klodmann; et al. (Frontiers Robotics AI, 2021)

An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases. - Jörn Vogel; Daniel Leidner; Annette Hagengruber; Michael Panzirsch; Berthold Bäuml; Maximilian Denninger; Ulrich Hillenbrand; Lioba Suchenwirth; Peter Schmaus; Marco Sewtz; Adrian Simon Bauer; Thomas Hulin; et al. (IEEE Robotics Autom. Mag., 2021)

A Novel Energy Compensation Scheme for Quality Enhancement in Time-Delayed Teleoperation With Multi-DoF Haptic Data Reduction and Communication. - Xiao Xu 001; Harsimran Singh; Qian Liu 001; Michael Panzirsch; Thomas Hulin; Eckehard G. Steinbach (IEEE Trans. Haptics, 2021)

Multi-Phase Multi-Modal Haptic Teleoperation. - Maximilian Mühlbauer; Franz Steinmetz; Freek Stulp; Thomas Hulin; Alin Albu-Schäffer (IROS, 2022)

Exploring planet geology through force-feedback telemanipulation from orbit. - Michael Panzirsch; Aaron Pereira; Harsimran Singh; Bernhard M. Weber; Edmundo Ferreira; Andrei Gherghescu; Lukas Hann; Emiel Boudewijn den Exter; Frank P. J. van der Hulst; Levin Gerdes; Leonardo Cencetti; Kjetil Wormnes; et al. (Sci. Robotics, 2022)

Touch the Metaverse: Demonstration of Haptic Feedback in Network-Assisted Augmented Reality. - Yushan Yang; Mingyu Ma 006; Tung V. Doan; Thomas Hulin; Frank H. P. Fitzek; Giang T. Nguyen 002 (PerCom Workshops, 2024)

Balancing Wearability and Functionality in the Design of a Haptic Fingertip Device. - Max Alexej Pötter; Julia Schneider; Evelyn Muschter; Jens Krzywinski; Thomas Hulin (PETRA, 2024)

AI-enabled Cyber-Physical In-Orbit Factory - AI approaches based on digital twin technology for robotic small satellite production. - Florian Leutert; David Bohlig; Florian Kempf; Klaus Schilling 001; Maximilian Mühlbauer; Bengisu Ayan; Thomas Hulin; Freek Stulp; Alin Albu-Schäffer; Vladimir Kutscher; Christian Plesker; Thomas Dasbach; et al. (CoRR, 2024)

Model-Augmented Energy-Flow Reference for High-Delay Telemanipulation. - Michael Panzirsch; Nicolai Bechtel; Thomas Hulin (IEEE Robotics Autom. Lett., 2024)

Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction. - Huseyin Tugcan Dinc; Thomas Hulin; Christian Ott 001; Jee-Hwan Ryu (IEEE Trans. Haptics, 2024)

A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures. - Maximilian Mühlbauer; Thomas Hulin; Bernhard M. Weber; Sylvain Calinon; Freek Stulp; Alin Albu-Schäffer; João Silvério (IEEE Robotics Autom. Lett., 2024)

Elasto-Plastic Robot Compliance in Human-Robot Interaction and Robot-Robot Cooperation. - Michael Panzirsch; Harsimran Singh; Thomas Hulin (HRI, 2025)

Human-Centric Concept for a Reconfigurable Robotic System Enabling Low-Volume Assembly of Photonic and Quantum Modules. - Andreas Wicht; Tobias Franke; Alina Hahn; Nils Håkansson; Christian Kürbis; Robert Smol; Thomas Hulin; Thomas Eiband; Peter Lehner; Maximilian Mühlbauer; Korbinian Nottensteiner; Richard Pietschmann; et al. (SII, 2025)

Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach. - Michael Panzirsch; Harsimran Singh; Xiao Xu 001; Alexander Dietrich; Thomas Hulin; Eckehard G. Steinbach; Alin Albu-Schäffer (IEEE Trans. Control. Syst. Technol., 2025)

Enhancing Shared Autonomy in Teleoperation Under Network Delay: Transparency- and Confidence-Aware Arbitration. - Basak Güleçyüz; Ribin Balachandran; Michael Panzirsch; Harsimran Singh; Thomas Hulin; Xiao Xu 001; Eckehard G. Steinbach (IEEE Robotics Autom. Lett., 2025)