HIL vehicle simulator with haptic torque feed-back

This project aims to include the driver inside the simulator environment based on Robotran. Previously, thanks to the symbolic code generated by Robotran in C language, it was possible to simulate in realtime the dynamics road vehicles like motorbike, kart or car. But, usually, we used pre-set trajectories or controllers to reproduce, as precisely as possible, the behavior of the driver. Despite all the carefulness given to driver models, it is impossible to reproduce perfectly the driver behavior and its influence on dynamics. In order to enrich the study, a complete driver interface device has been implemented. The main part is an actuated steering wheel linked in real time with the Robotran simulator. The device measures the wheel motion and send this information to the simulator which computes the torque feed-back to apply to the driver. Extensive development has been done to ensure a good quality of feeling. In particular, we selected a direct drive system to avoid all parasitic slacks, and frictions. In the same way, both hardware and software are developed to obtain short communication time between host computer and the wheel. By this way, the driver is better included in the simulation and the results are closer to reality. The project is based on 2 master theses realized at EPL.

Lateral view of the haptic device       Driver view of the haptic steering wheel       

Left: Lateral view of the haptic device. The simulation runs on the laptop which communicate to the steering wheel via a CAN protocole. Right: Driver view of the haptic steering wheel.



Romain Poletti, Aubain Verlé ( This email address is being protected from spambots. You need JavaScript enabled to view it. ), Nicola De Lellis, Quentin Materne, Martin Vanderwegen, Nicolas Docquier, Paul Fisette


  • De Lellis, Nicola ; Materne, Quentin. Conception et réalisation d'un simulateur à retour haptique
    pour l'étude de l'interaction homme/véhicule. Ecole polytechnique de Louvain, Université
    catholique de Louvain, 2016. Prom. : Fisette, Paul ; Dehez, Bruno. http://hdl.handle.net/2078.1/thesis:8096
  • Poletti, Romain. Simulateur à retour haptique de véhicules basé sur des modèles multicorps temps réels. Ecole polytechnique de Louvain, Université catholique de Louvain, 2017. Prom. : Fisette, Paul. http://hdl.handle.net/2078.1/thesis:10717

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