Scaled teleoperation system for nano-scale interaction and manipulation

Authors: Sitti M.; Aruk B.; Shintani H.; Hashimoto H.

Source: Advanced Robotics, Volume 17, Number 3, 2003 , pp. 275-291(17)

Publisher: VSP, an imprint of Brill

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Abstract:

In this paper, a visual and haptic human–machine interface is proposed for teleoperated nano-scale object interaction and manipulation. Design specifications for a bilateral scaled tele-operation system with slave and master robots, sensors, actuators and control are discussed. The Phantom™ haptic device is utilized as the master manipulator, and a piezoresistive atomic force microscope probe is selected as the slave manipulator and as topography and force sensors. Using the teleoperation control system, initial experiments are realized for interacting with nano-scale surfaces. It is shown that fine structures can be felt on the operator's finger successfully, and improved nano-scale interaction and manipulation using visual and haptic feedback can be achieved.

Keywords: Tele-nanorobotics; nanomanipulation; haptic interfaces; virtual reality; nanomechanics.

Document Type: Research article

DOI: 10.1163/156855303764018503

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