This paper presents research on a nanomanipulator developed using an atomic force microscope (AFM) and an inexpensive off-the-shelf force feedback joystick for haptic interface. The system allows a user to manually position the AFM tip over a sample and provides force feedback to him based on the sample-tip interactions. The haptic interface adds a new channel of information to the user during the blind manipulation stage with the AFM. The paper describes the system configuration, design details of the haptic interface and control software. Results of a particle string splitting experiment and a particle identification experiment are presented.
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