An experimental approach for producing relative charge density maps of biol
ogical surfaces using the atomic force microscope is presented. This approa
ch, called D minus D (D-D) mapping, uses isoforce surfaces collected at dif
ferent salt concentrations to remove topography and isolate electrostatic c
ontributions to the tip-sample interaction force. This approach is quantita
tive for surface potentials below 25 mV, and does not require prior knowled
ge of the cantilever spring constant, tip radius, or tip charge. In additio
n, D-D mapping does not require tip-sample contact. The performance of D-D
mapping is demonstrated on surfaces of constant charge and varying topograp
hy (mechanically roughened mica and stacked bilayers of dipalmitolphosphati
dylserine), a surface of varying charge and varying topography (patches of
dipalmitolphosphatidylcholine on mica), and bacteriorhopsin membranes adsor
bed to mica.