The invention provides a method for regulation of a sample manipulator. The method includes generating a list of at least one first displacement for at least one pre-defined object； estimating a least one second displacement with respect to at least one location on the manipulator； comparing the estimated displacement with the list of first displacements to obtain an optimum displacement； and computing at least one second force at the given location from the obtained optimum displacement. The estimation of the optimum displacement facilitates regulation of the manipulator.
