Stable haptic interaction for AFM-based nanomanipulation

This paper addresses stable haptic interaction for AFM (atomic force microscope)-based nanomanipulation. The EBA (energy-bounding algorithm), a passivity-based haptic control algorithm, is modified to include the scaling factors in the scaled bilateral teleoperation, and a commercial AFM is revised to be used as a nanomanipulation system with a 1-DOF custom-built haptic interface. Preliminary experiments show that the modified EBA can maintain stability during the interaction between an AFM probe and the surface of a sample for any force scaling factors.