Abstract:
A capacitive transducer a first part containing a first set of capacitor plates and a second part relatively movable in a plane to the first part. The second part contains a second set of capacitor plates. Both sets of capacitor plates are built on a substrate, wherein the capacitor plates form a plurality of capacitors. The second part is relatively movable in all six degrees of freedom. One set of the plurality of capacitors measures displacements in a plane and a second set of the plurality capacitors measures displacements perpendicular to the plane.

Description:
BACKGROUND OF THE INVENTION 
   This invention relates to a multi-axis capacitive transducer and a manufacturing method for producing multi-axis capacitive sensors and actuators. 
   Micro-Electro-Mechanical-Systems (MEMS) comprise the integration of mechanical elements, sensors, actuators and electronics on a common silicon substrate through micro-fabrication processes. In the following context the term transducer is in a summarized manner used for capacitive sensors and for capacitive actuators. 
   The realisation of reliable force sensing during manipulation of micro-objects is an important objective of current research activities. At present, the most common technique used for force sensing in micromanipulation is that of strain gauges. Nowadays, micromanipulations are performed using either mobile micro-robots or a precise positioning device under control of an optical or scanning electron microscope. During the initial state of development, engineers have concentrated on the design of different micro-handling tools such as micro-grippers. Often sensor feedback is only given by the means of optical measurement, thus leading to a lack of information about the interaction forces between the end-effectors and the micro-components. In order to avoid breaking or damaging objects during the manipulation processes, force feedback is important for a proper functionality. To provide multi-axis force information is a requirement for complicated micromanipulation tasks. 
   Micro-machined accelerometers have been successful as commercial products. They are used for sophisticated control systems in airplanes and advanced automobiles. Many research has been done on a wide variety of sensing mechanisms, among them capacitive measurement. For new accelerometer technology to be attractive it must be low cost, reliable and perform well. Nowadays, no multi-axis accelerometers featuring 6 degrees of freedom measurement are commercially available. 
   Most multi-degrees of freedom sensors that have been developed in the last years are based on the piezo-electric effect. Only few works has been done on capacitive multi-degree of freedom sensors. The difference between state of the art capacitive multi-degrees of freedom sensors and the new sensor design presented here are discussed. 
   In &lt;&lt;A bulk micro fabricated multi-axis capacitive cellular force sensor using transverse comb drives&gt;&gt;, Sun Yu et al., Journal of Micromechanics and Microengineering, Vol. 12, 2002, pages 832-840, the design of a 2-DOF capacitive force sensor is presented. The disclosed sensor allows a measurement of forces only in the wafer plane Fx and Fy. Forces Fz perpendicular to the wafer plane and moments are not measurable. 
   A multi-axis micro accelerometer is presented in &lt;&lt;A 3-axis force balanced accelerometer using a single proof-mass&gt;&gt;, Mark A. Lemkin et al., Transducers 1997, International Conference on Solid-State Sensors and Actuators, Chicano, June 16-19, 1997, pages 1185-1188. Accelerations out of the wafer plane are measured by a change of overlapping area, which has a relatively small sensitivity. No capacitor plates in the xy-plane are used to measure displacements in z-direction. 
   The paper &lt;&lt;Detector for force/acceleration/magnetism with respect to components in multi-dimensional directions&gt;&gt;, U.S. Pat. No. 5,437,196, discloses a sensor design which is not suitable for micro-fabrication. Electrodes are attached to the sidewalls of the fixed part and the movable body of the sensor, but they are not part of the mechanical structure. 
   SUMMARY OF THE INVENTION 
   The present invention therefore addresses the problem to avoid the above mentioned drawbacks of the known &lt;&lt;force and acceleration sensors&gt;&gt; and to provide a multi-axis capacitive transducers which allow a measurement of a relative motion in all 6 degree&#39;s of freedom and can be produced requiring no assembly. 
   According to the present invention, a capacitive transducer with the features, where
         A part are movable in all directions of space;   both sets of capacitor plates are forming a further plurality of capacitors arranged parallel and perpendicular to that plane;   for each capacitor one capacitor plate has a larger surface area than the other in order that a displacement parallel to the two plates of said capacitor does not affect its capacity;
 
enables the measurement of forces in all 3 directions as well of torques in all 3 axes; by the feature, where a plate of one capacitor has an larger surface then the other one allows a direct and easy evaluation of the direction of an applied force or of the axes of a applied torque without affecting the other directions and axes.
       

   Additionally, where both sets of capacitor plates are built on a wafer the transducer according to the present invention requires no assembly. 

   
     BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
     The invention will now be described in preferred embodiments with reference to the accompanying drawings wherein: 
       FIG. 1  Force sensor with deformable part build by 4 springs; 
       FIG. 2  cross sectional view of a force sensor according to  FIG. 1  along A-A; 
       FIG. 3  cross sectional view of a force sensor according to  FIG. 1  along B-B; 
       FIG. 4  calibration matrix for a force sensor according to  FIG. 1 ; 
       FIG. 5  acceleration sensor based on a force sensor; 
       FIG. 6  calibration matrix for a acceleration sensor according to  FIG. 5  and 
       FIG. 7  steps of a manufacturing method for the production of devices according to  FIG. 1  or  5 . 
   

   DETAILED DESCRIPTION OF THE INVENTION 
   The explanation below refers first to  FIG. 1 . Capacitive micro force sensors  1  are principally built up by the two main parts:
         i) a deformable structure S 1 , S 2 , S 3 , S 4 ; which transforms a force into a displacement.   ii) pairs of capacitor plate forming capacitors C 1 , C 2 , C 3 , C 4 , C 5 , C 6  and C 7  to transform a displacement into a change of its capacitance. In the context of this paper the symbols C 1 , C 2  denote the element &lt;&lt;capacitor&gt;&gt; as well as its &lt;&lt;capacitance&gt;&gt;.       

   To create a multi degree of freedom sensor  1 , the deformable structure is designed such that a displacement in X-, Y- and Z-direction is possible. For the force sensor shown in  FIG. 1 , the deformable part is formed by four springs S 1 , S 2 , S 3  and S 4  with a perpendicular shape. The springs S 1 , S 2 , S 3  and S 4  are also used as electric conductors. For this reason, each spring S 1 , S 2 , S 3  and S 4  may be replaced by two or more springs with a lower stiffness, if more electric conductors are required for the read-out electronics. By changing the position, length and thickness of the springs S 1 , S 2 , S 3  and S 4 , the resolution and the range of the sensor  1  can be chosen. 
   To measure the displacement of the movable body  11 , the capacitance of the electrode pairs C 1 , C 2 , . . . , C 7  are measured. To get a better output signal, the capacitors C 1 , C 2  and C 3  are replaced by comb drives featuring multiple plate pairs. The capacitance C for each comb drive is given by the equation:
 
 C =∈0 *n*A/d;  
 
where ∈0 is the dielectric constant, n the number of plate pairs, A the overlapping area and d the gap distance. To be precise: A denotes the surface area of the smaller plate of a capacitor, because the larger area does not contribute to the capacity. Most multi-degree of freedom force sensors  1  that had been designed in the past measure the change of capacitance by changing the overlapping area A for forces perpendicular to the XY-plane. Changing the gap d instead of the overlapping area provides a high change of capacitance for a small displacement Δd and thus increases the resolution of the sensor.
 
   To obtain a linear output, a differential comb drive structure is used for the capacitors C 1 , C 2  and C 3 . For the capacitors C 4 , C 5 , C 6  and C 7  a linear output is obtained by measuring directly the impedance instead of its capacitance. 
   The measurement takes places as follows, cf.  FIG. 1 :
         i) The capacitor plates of the capacitors C 1  and C 3  have to be oriented parallel to the xz-plane.   ii) The capacitor plates of the capacitor C 2  have to be oriented parallel to the yz-plane.   iii) The capacitor plates of the capacitor C 4 , . . . , C 7  have to be oriented parallel to the xy-plane.   i′) To determine the force Fx, the deflection in x-direction is measured via the capacity of the capacitor C 2 .   ii′) To determine the force Fy, the capacity C 1  and C 3  are measured and the force Fy is calculated from that.   iii′) To determine the force Fz, the capacity C 4 , C 5 , C 6  and C 7  are measured and the force calculated from that.   iv) To determine the torque Mx in the x-axis, the capacity C 4 , C 5 , C 6  and C 7  are measured and the torque Mx is calculated from that; the torque Mx is in  FIG. 1  generally denoted by M.   v) To determine the torque My in the y-axis, the capacity C 4 , C 5 , C 6  and C 7  are measured and the torque Mx calculated from that.   vi) To determine the torque Mz, in the z-axis, the capacity C 1  and C 3  are measured and the force calculated from that.       

     FIG. 4  shows an example of a calibration matrix for the (force) sensor  1  according  FIG. 1 . 
   l is the length from the tip of the probe  10  to the origin. k is a constant which is given by the sensitivity of the readout electronics. 
   The insulation of the different capacitors is realized by etching gaps into the top layer. To resolve six degrees of freedom at least six independent capacitive measurements are required. The design in  FIG. 1  features seven electrode pairs C 1 , . . . , C 7 . One of the pairs C 4 , . . . , C 7  is redundant and is only used to improve the signal to noise ratio. The lower plates of capacitor C 4 , . . . , C 7  have a larger area than the upper plate. A movement of the movable body  11  in x- or y-direction doesn&#39;t change the overlapping are because of that. This design enables a complete decoupling of the measurement of the forces Fx, Fy and the torque Mz from the measurement of the force Fz and the torques My and Mz. 
     FIG. 5  shows a modified version of the force and torque sensor  1  according to  FIG. 1  to be used as an accelerometer. The meaning of the hatched areas is the same as de-noted in  FIG. 1 . The central movable body  11  is used as a single proofed mass. The probe  10  isn&#39;t required for an accelerometer. The forces and moments that are acting on the movable body  11  are given by the equations:
   F=m·a    and   M=I·{umlaut over (φ)}   
m denotes the mass of the movable body  11  and a the acceleration on the sensor  1 . An example of a calibration matrix for the accelerometer according to  FIG. 5  is characterised by the calibration matrix in  FIG. 6 .
 
Electrostatic Actuator
 
   The design of the force sensor  1  according to  FIG. 1  can be used as an actuator when a voltage difference is applied over the capacitor plates. The force acting perpendicular to the plates is given by the equation: 
             F   electrostatic     =       -     1   2       ⁢         ɛ   0     ⁢     AV   2         2   ⁢           ⁢   d               
where ∈ 0  is the dielectric constant, A the area of the capacitor plates, V the Voltage difference between the plates of the capacitors C 4 , C 5 , C 6  and C 7  and d the gap between the plates.
 
   This configuration can exert forces and torques to micro parts to manipulate them. 
   The design of the force sensor according to  FIG. 1  can be used as a position sensor to measure distances along the x-, y- and z-axis with a resolution in the [nm] range. 
     FIG. 7  shows the manufacturing method of the transducers according to the invention. The meaning of the hatched areas is the same as denoted in  FIG. 1 . Two wafers  20  and  23  are required. The first one is a silicon wafer  20  of a thickness of 500 μm and a layer  21  of 1 μm SiO2 on top of it. The layer  21  is an electrical isolation layer. The second wafer  23  is a p-type silicon wafer with a thickness of 100 μm. A total of 5 masks denoted by mask 1 , . . . , mask 5  are required for the process. The steps for the production process comprise:
         A) The lower electrodes are evaporated on the insulating layer of wafer  20 , using mask 1 . The metal used for evaporation is either gold Au or aluminium Al.   B) Trenches are etched into the wafer  23  using mask 2 .   C) Wafer  20  and wafer  23  are bonded together using low temperature bonding or gluing  24 .   D) Ohmic contacts  25  are evaporated using mask 3 .   E) Topside is etched, including the deformable structure and the comb drives using mask 4 .   F) Backside of the wafer is etched using mask 5 .   G) The electrical insulating layer  21  of SiO2 is removed using reactive ion etching to release the devices.       
   No assembly is required to manufacture the sensors. Instead of wafer-bonding a surface micro machining process can be used to create the electrodes measuring deflections in Z-direction. 
   LIST OF REFERENCE NUMERALS AND SYMBOLS 
   
       
         1  Transducer, sensor, actuator 
         10  counter lever, probe 
         11  movable body of the transducer 
         12  non movable part of the transducer, fixed part of the transducer 
         20  silicon substrate, 1 st  wafer, silicon wafer 
         21  electrical isolation layer 
         22  lower electrode plates 
         23  2 nd  wafer, conductor 
         24  bonding, gluing 
         25  ohmic contacts 
       A area overlapping area 
       a acceleration 
       ax, ay, az acceleration components 
       D gap distance 
       Δd displacement 
       C 1 , C 2 , C 3 , C 4 , C 5 , C 6  capacitor plate pair, electrode pair, its capacitance 
       ∈0 dielectric constant 
       Fx, Fy, Fz force components 
       {umlaut over (φ)} x , {umlaut over (φ)} y , {umlaut over (φ)} z  rotational accelerations 
       P 1 , P 2 , P 3 , P 4  Elektrode, plate 
       Mx, My, Mz moment components 
       a mass of movable body 
       n number of plate pairs 
       S 1 , S 2 , S 3 , S 4  deformable structure, spring 
       V Voltage 
       X, Y, Z; x, y, z Directions; coordinates 
     
  
   LIST OF ACRONYMS 
   
       
       MEMS Micro-Electro-Mechanical-Systems 
       DOF Degree&#39;s of freedom