“…Kim et al, 2001;Major et al, 2006). These previous techniques of measuring friction employed a lateral modulation of the sample relative to the cantilever as a means to measure normal force and friction force at the same time (Burns et al, 1999a;Carpick et al, 1997;Colchero et al, 1996;Goddenhenrich et al, 1994;Goertz et al, 2007;Major et al, 2006). However, AFM usage has been limited to passive applications (e.g., pull-off force measurement in the force-distance curve) and can only be applied to the measurement of friction while the tip is touching the sample surface because of an intrinsic mechanical instability of the tip-sample assembly near a sample surface called the "snap-to-contact problem" (Burnham, 1989;Lodge, 1983).…”