Versatile force–feedback manipulator for nanotechnology applications

Jobin, Marc; Foschia, Raphaël; Grange, S.; Baur, Charles; Gremaud, G.; Lee, Kyumin; Forró, Lászlø; Kulik, Andrzej

doi:10.1063/1.1891346

Cited by 28 publications

(14 citation statements)

References 12 publications

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“…Fortunately, this issue has been resolved in the haptic-STM interface presented below. Finally, Jobin et al 10 successfully demonstrated the operation of an AFM in closed-loop operation controlled with a haptic device in performing manipulation of carbon nanotubes and silica beads.…”

Section: Reviewmentioning

confidence: 97%

Haptic-STM: A human-in-the-loop interface to a scanning tunneling microscope

Perdigão

Saywell

2011

Review of Scientific Instruments

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The operation of a haptic device interfaced with a scanning tunneling microscope (STM) is presented here. The user moves the STM tip in three dimensions by means of a stylus attached to the haptic instrument. The tunneling current measured by the STM is converted to a vertical force, applied to the stylus and felt by the user, with the user being incorporated into the feedback loop that controls the tip-surface distance. A haptic-STM interface of this nature allows the user to feel atomic features on the surface and facilitates the tactile manipulation of the adsorbate/substrate system. The operation of this device is demonstrated via the room temperature STM imaging of C(60) molecules adsorbed on an Au(111) surface in ultra-high vacuum.

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Section: Reviewmentioning

confidence: 97%

Haptic-STM: A human-in-the-loop interface to a scanning tunneling microscope

Perdigão

Saywell

2011

Review of Scientific Instruments

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“…However, there are other manipulation techniques which have enabled haptic interface to the user. Marc et al 15 demonstrated sensing AFM cantilever forces and feeding the response to the haptic device enabling user to feel the small forces scaled up. A similar forcefeedback system has been reported in Fok et al 22 It is desirable to the user manipulating micro-objects to perceive the micro/nanohandling forces.…”

Section: Introductionmentioning

confidence: 99%

“…Some of the commercially available products for in vitro fertilization are manufactured by Applied Scientific Instrumentation, 12 Eppendorf, 13 and Harvard Apparatus. 14 Other methods involving atomic force microscope ͑AFM͒ based manipulation systems 15 and microgripper designs 16,3 have utilized force controlled manipulation. The AFM based systems have demonstrated manipulation at the nanoscale.…”

Section: Introductionmentioning

confidence: 99%

Haptic controlled three-axis MEMS gripper system

Vijayasai

Sivakumar

Mulsow

et al. 2010

Review of Scientific Instruments

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In this work, we describe the development and testing of a three degree of freedom meso/micromanipulation system for handling micro-objects, including biological cells and microbeads. Three-axis control is obtained using stepper motors coupled to micromanipulators. The test specimen is placed on a linear X-stage, which is coupled to one stepper motor. The remaining two stepper motors are coupled to the Y and Z axes of a micromanipulator. The stepper motor-micromanipulator arrangement in the Y and Z axes has a minimum step resolution of ∼0.4 μm with a total travel of 12 mm and the stepper motor-X stage arrangement has a minimum resolution of ∼0.3 μm with a total travel of 10 mm. Mechanical backlash error is ∼0.8 μm for ∼750 μm of travel. A MEMS microgripper from Femtotools™ acts as an end-effector in the shaft end of the micromanipulator. The gripping ranges of the grippers used are 0-100 μm (for FT-G100) and 0-60 μm (for FT-G60). As the gripping action is performed, the force sense circuit of FT-G100 measures the handling force. This force feedback is integrated to a commercially available three degree of freedom haptic device (Novint Falcon) allowing the user to receive tactile feedback during the microscale handling. Both mesoscale and microscale controls are important, as mesoscale control is required for the travel motion of the test object whereas microscale control is required for the gripping action. The haptic device is used to control the position of the microgripper, control the actuation of the microgripper, and provide force feedback. A LABVIEW program was developed to interlink communication and control among hardware used in the system. Micro-objects such as SF-9 cells and polystyrene beads (∼45 μm) are handled and handling forces of ∼50 μN were experienced.

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“…The haptic technologies have been introduced in nanometer-scale manipulations based on atomic force microscopes (AFMs). By using AFMs coupled with the haptic devices, nanometer scale manipulations have been carried out to investigate structures and detailed properties of nanomaterials such as carbon nanotubes [7][8][9][10][11], fibrin fibers [12,13] and DNA [13,14]. The various haptic feedback techniques using virtual reality have been developed to realize more sophisticate and accurate operation [15][16][17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Development of a compact nano manipulator based on an atomic force microscope: For monitoring using a scanning electron microscope or an inverted optical microscope

Iwata

Takahashi

et al. 2012

2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3m-Nano)

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In this paper, we describe a novel nano manipulator based on an atomic force microscope (AFM). The body of the manipulator is enough compact to be operated inside the sample chamber of a scanning electron microscope (SEM). In order to realize the compact body, we employed a self-detection type cantilever for AFM observation. The cantilever includes strain resistance element, which can easily detect a deflection signal of the cantilever without other sensing devices such as optical lever systems. It is possible to observe the manipulation situation in the real time observation by using the SEM. The AFM manipulator is coupled with a haptic device for human interface. Thus, by using this system, the operator can move the AFM probe at any position on the surface with feeling the interaction force detected by the cantilever on the sample surface according to the cantilever deflection. As a performance of the system, biological samples were controllably manipulated under the SEM observation. Furthermore, in order to deal with biological samples in liquid condition, the manipulator can be coupled with an inverted optical microscope. By using the system, we successfully demonstrated manipulation of biological samples in liquid condition. Two AFM manipulators could be used for dissection of biological samples like a knife and fork.

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Versatile force–feedback manipulator for nanotechnology applications

Cited by 28 publications

References 12 publications

Haptic-STM: A human-in-the-loop interface to a scanning tunneling microscope

Haptic-STM: A human-in-the-loop interface to a scanning tunneling microscope

Haptic controlled three-axis MEMS gripper system

Development of a compact nano manipulator based on an atomic force microscope: For monitoring using a scanning electron microscope or an inverted optical microscope

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