Teleoperated Touch Feedback From the Surfaces at the Nanoscale: Modeling and Experiments

In this paper, a teleoperated nanoscale touching system is proposed, and continuum nanoscale contact mechanics models are introduced. The tele-nanorobotic system consists of a piezoresistive nanoprobe with a sharp tip as the nanorobot and force and topology sensor, a custom-made 1-degree-of-freedom haptic device for force-feedback, three-dimensional (3-D) virtual reality (VR) graphics display of the nano world for visual feedback, and force-reflecting servo type scaled teleoperation controller. Using this system, one-dimensional and 3-D touching experiments and VR simulations are realized. Scaling of nanoforces is one of the major issues of the scaled teleoperation system since nanometer scale forces are dominated by surface forces instead of inertial forces as in the macro world. As the force scaling approach, a heuristic rule is introduced where nanoforces are linearly scaled with an experimentally determined scaling parameter. Simulation results and preliminary experiments of touching to silicon and InAs quantum dot nanostructures show that adhesion forces at the nanoscale can be felt repeatedly at the operator’s hand, and the proposed system can successfully enable the nanoscale surface topography and contact and noncontact nanoforce feedback.