Hayabusa did it! The never-say-quite-dead, get-home-even-if-you're-three-years-late asteroid rendesvous satellite Hayabusa did indeed capture tiny grains of the asteroid Itokawa that it visited and bumped, hoping to dislodge bits of space rock. So the news (complete with photographic verification) is that it did knock some dust loose, and got it into the sample chamber.
A couple of articles:
Hayabusa probe succeeded in returning asteroid dust to Earth
Success! Hayabusa captured asteroid dust (this one is pretty good; excellent images, including a large version of the scanning electron microphotograph of some of the 1,500 asteroid particles)
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