@article {Sitti:1 June 2003:0169-1864:275,
	author = "Sitti M.",
	author = "Aruk B.",
	author = "Shintani H.",
	author = "Hashimoto H.",
	title = "Scaled teleoperation system for nano-scale interaction and manipulation",
	journal = "Advanced Robotics",
	volume = "17",
	year = "1 June 2003",
	abstract = "In this paper, a visual and haptic human–machine interface is proposed for teleoperated nano-scale object interaction and manipulation. Design specifications for a bilateral scaled tele-operation system with slave and master robots, sensors, actuators and control are discussed. The Phantom™ haptic device is utilized as the master manipulator, and a piezoresistive atomic force microscope probe is selected as the slave manipulator and as topography and force sensors. Using the teleoperation control system, initial experiments are realized for interacting with nano-scale surfaces. It is shown that fine structures can be felt on the operator's finger successfully, and improved nano-scale interaction and manipulation using visual and haptic feedback can be achieved.",
	pages = "275-291(17)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2003/00000017/00000003/art00006"
	doi = "doi:10.1163/156855303764018503"
}