Scaled teleoperation system for nano-scale interaction and manipulation

摘要

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 teleoperation system with slave and master robots, sensors, actuators, and control are discussed. PhantomT M 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. Key words: Tele-nanorobotics; nanomanipulation; haptic interfaces; Virtual Reality; nanomechanics. 1.