Department of Mechanical EngineeringDepartment of Physics2024-11-0920071094-408710.1364/OE.15.0116162-s2.0-34548436856http://dx.doi.org/10.1364/OE.15.011616https://hdl.handle.net/20.500.14288/14024We report the manipulation of 4-5 mu m diameter polymer microspheres floating in water using optical tweezers (OT) and a haptic device (i.e. force-reflecting robotic arm). Trapped microspheres are steered using the end-effector of a haptic device that is virtually coupled to an XYZ piezo-scanner controlling the movements of the fluid bed. To help with the manipulations, we first calculate a collision-free path for the particle and then display artificial guidance forces to the user through the haptic device to keep him/her on this path during steering. Experiments conducted with 8 subjects show almost two-fold improvements in the average path error and average speed under the guidance of haptic feedback. (c) 2007 Optical Society of America.OpticsJournal Article24933980006112790