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Development of an AFM-based nanomanipulation system and stable haptic interaction using modified energy-bounding algorithm

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4 Author(s)
Yo-An Lim ; Dept. of Mechatron., Gwangju Inst. of Sci. & Technol., Gwangju, South Korea ; Chang-Gyu Lee ; Jong-Phil Kim ; Ryu, J.

This paper addresses the development of an AFM (Atomic Force Microscope)-based scaled teleoperation system and its preliminary experimental results of bilateral scaled teleoperation using the modified EBA (Energy-Bounding Algorithm). An interface that connects a commercial AFM and a custom-built haptic interface, and a GUI controlling the overall system are developed. For stable scaled teleoperation, the EBA, a passivity-based haptic stability control algorithm, is modified to include the force and position scaling factors, and applied to the scaled teleoperation. Preliminary experiments show that stable haptic interaction on a sample material can be achieved using the developed system and the modified EBA.

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Date of Conference:

18-21 Aug. 2009