In a typical passivity-based controller design for a teleoperation task, a passive environment is frequently postulated. This assumption does not hold for nano environments and numerous researches in nano-telemanipulation have attributed this to the substantial van der Waals and capillary forces with respect to inertial forces in nanocosm. This non-passivity diminishes the applicability of most passivity-based methods for controller design unless the reflection of this active behavior to the operator is ignored. The focus of this paper is to present a control structure for an AFM-based telemanipulation system capable of addressing the three main issues in a fine fashion: stability, transparency and human perception. Specifically guaranteeing stability on the premise that the environment is non-passive is the main concern and treated by designing a suitable virtual coupling and haptic interface.

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