A Haptic Interface to a Scanning Probe Microscope

The long-term goal of this project is to develop a nanoworkbench capable of providing real-time perceptualization of the mechanical properties, such as stiffness, adhesion or friction, of a nanoscale object during positioning or manipulation. We believe that this effort will lead to a better understanding of the important issues in the assembly of prototype nano-structures. By bridging the nano- and macro-worlds with a haptic interface, a researcher will be able to precisely position, assemble, and move nanoscale objects by feeling their way with a tele-operated AFM tip. Current efforts focus on the development of a passivity-based controller that will ensure the stability of the haptic interface during nanomanipulation.


Project Publications

Laron Walker, Hong Z. Tan, Sorabh Mahadoo, Stephen Brown, and Ron Reifenberger, "A scanning probe nanomanipulator," Proceedings of the Workshop on Scanning Probe Microscopy, Purdue University, West Lafayette, IN, Feb. 9, 2004. (Abstract only.)

Laron Walker and Hong Z. Tan, "A perceptual study on haptic rendering of surface topography when both surface height and stiffness vary," Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, IEEE Computer Society, Chicago, IL, pp. 138-145, Mar. 27-28, 2004. PDF(1.4MB)