Stable Haptic Interaction for AFM-based Nanomanipulation

Title
Stable Haptic Interaction for AFM-based Nanomanipulation
Authors
임요안이창규김종필류제하
Issue Date
2009-07
Publisher
IEEE International Symposium on Industrial Electronics
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/36266
Appears in Collections:
KIST Publication > Conference Paper
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