Experimental One-dimensional

In this work, one-dimensional experimental teleoperated nanomanip-ulation with force and visual feedback is demonstrated by using an atomic force microscope on the slave side and a haptic device on the master side. Three main topics are addressed that are especially relevant for force feedback in teleoperation at the nanoscale: trans-parency, impedance reflection according to human perception and stability. To further assist the operator, the Maugis–Dugdale elastic contact mechanics model is utilized to provide an augmented reality visual interface. As a result, a robust platform to perform teleoper-ated nanomanipulation on a broad range of materials is achieved. The performance of the resulting system is demonstrated on experi-mental results for vertical tip positioning tasks on glass, polystyrene and silicone rubber substrates with force and visual feedback. Exper-imental results indicate that softer substrates yield higher positioning errors and lower reaching speeds. Finally, one-dimensional nanoin-dentation of a flat polymethylmethacrylate (PMMA) surface using the proposed teleoperation system is demonstrated. KEY WORDS—nanomanipulation, teleoperation, atomic force microscopy, passivity control, bilateral control