Development of an AFM-based nanomanipulation system and stable haptic interaction using modified energy-bounding algorithm

This paper addresses the development of an AFM (Atomic Force Microscope)-based scaled teleoperation system and its preliminary experimental results of bilateral scaled teleoperation using the modified EBA (Energy-Bounding Algorithm). An interface that connects a commercial AFM and a custom-built haptic interface, and a GUI controlling the overall system are developed. For stable scaled teleoperation, the EBA, a passivity-based haptic stability control algorithm, is modified to include the force and position scaling factors, and applied to the scaled teleoperation. Preliminary experiments show that stable haptic interaction on a sample material can be achieved using the developed system and the modified EBA.