Augmented reality system for real-time nanomanipulation

By introducing haptic force feedback, nanomanipulation using the AFM becomes easier. However, this technique has been impeded by tip displacement due to the softness of AFM cantilever. In this paper, a novel nanomanipulation system assisted by augmented reality is presented. By analyzing the cantilever-tip interaction with the environment, the normal force and the lateral force are obtained. These forces are then fed to a haptic device to provide real-time force feedback for operator. The visual images are also updated based on real-time force and position information, which provides the operator with real-time visual feedback. New calibration methods and compensation algorithm are introduced to compensate for the tip displacement, therefore, the visual display and force feeling from the haptic device become reliable. The real-time force feedback and the real-time visual display provide the operator with an augmented reality environment. Experimental results have verified the effectiveness of the proposed novel augmented reality system.