Teleoperated Nano Scale Object Manipulation
نویسندگان
چکیده
In this paper, a teleoperated nano scale object manipulation system is proposed, and requirements of such systems are defined. The system consists of a user interface utilizing visual and haptic displays (macro world), nano-manipulator, controller and sensors (nano world), and teleoperation control and rough to fine imaging and actuation tools (between macro and nano worlds). A home-made Atomic Force Microscope is constructed for nano sensing and manipulation, and a home-made 1-DOF haptic device with Virtual Impedance-based bilateral teleoperation control scheme are utilized. Preliminary experiments consisting of nano scale tactile and force feedback while touching to materials, and 2-D assembly of 2.02 μm size latex particles are realized and results are reported.
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