Teleoperation based AFM manipulation control

Teleoperationwith haptic feedback is a promising solution for nanoscale operations, for both educational purposes and high precision manipulation tasks. It is well understood that interactions and forces among nanoscale objects are very different from objects at larger scales. The reason for these differences stem from the fact that forces do not scale linearly with the characteristic length of an entity. Inertial (volumetric) forces, such as momentum and weight that are significant at macroscales, become negligible against areal (adhesive) and peripheral (capillary) forces, particularly at micro/nanoscale [1, 2]. Therefore, experiencing the nanoscale environment by means of a bilateral teleoperation system is, first and foremost, an educational step that can be employed for training on nanoscale phenomena, especially nanotribology, for researchers.