Capacitive shear force sensor and method for fabricating thereof

• US 9,347,838 B2
• Filed: 05/17/2013
• Issued: 05/24/2016
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Dog-E-Glow, Inc., Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Wu, Gwo-Jen, Huang, Jian-Lin, Chen, Sheng-Jui, Wu, Chung-Lin
• Primary Examiner(s): Caputo, Lisa
• Assistant Examiner(s): HOLLINGTON, OCTAVIA L DAVIS
• Application Number:
  US13/896,333
• Publication Number:
  US 20140174204A1
• Time in Patent Office: 1,103 Days
• Field of Search: 738/626.26
• US Class Current: 1/1
• CPC Class Codes: B25J 13/083 fitted with slippage detectors
• CPC Class Codes: G01L 1/142 using capacitors
• CPC Class Codes: G01L 5/226 to manipulators, e.g. the force due to gripping

Abstract

A capacitive shear force sensor and a method for fabricating thereof are provided. The capacitive shear force sensor includes a first electric field shielding layer, a second electric field shielding layer, a driving electrode, a first sensing electrode, a second sensing electrode and a dielectric layer. The second electric field shielding layer is disposed under the first electric field shielding layer. The driving electrode is disposed between the first electric field shielding layer and the second electric field shielding layer. The first and the second sensing electrodes are disposed between the driving electrode and the second electric field shielding layer. The dielectric layer is disposed between the driving electrode and the first sensing electrode, and between the driving electrode and the second sensing electrode. The first sensing electrode and the driving electrode form a first capacitor. The second sensing electrode and the driving electrode form a second capacitor.

Claims

1. A capacitive shear force sensor, comprising:

a first electric field shielding layer, having a lower surface;

a second electric field shielding layer, having an upper surface, wherein the second electric field shielding layer is disposed under the first electric field shielding layer;

a driving electrode, disposed under the lower surface of the first electric field shielding layer, and disposed between the first electric field shielding layer and the second electric field shielding layer;

a first sensing electrode, disposed on the upper surface of the second electric field shielding layer, and disposed between the driving electrode and the second electric field shielding layer, wherein the first sensing electrode and the driving electrode form a first capacitor;

a second sensing electrode, disposed on the upper surface of the second electric field shielding layer, and disposed between the driving electrode and the second electric field shielding layer, wherein the second sensing electrode does not contact the first sensing electrode, and the second sensing electrode and the driving electrode form a second capacitor, wherein when a shear force is applied to the driving electrode, an overlapped area size of electrode plates of one of the first capacitor and the second capacitor is decreased in response to the shear force, and an overlapped area size of electrode plates of another one of the first capacitor and the second capacitor is increased in response to the shear force; and

a dielectric layer, disposed between the driving electrode and the first sensing electrode, and disposed between the driving electrode and the second sensing electrode.

2. The capacitive shear force sensor as claimed in claim 1, wherein an upper surface of the first electric field shielding layer has a rough surface to receive a shear force.

3. The capacitive shear force sensor as claimed in claim 1, wherein an upper surface of the first electric field shielding layer has at least one bump to receive a shear force.

4. The capacitive shear force sensor as claimed in claim 1, further comprising:

an upper board, disposed on an upper surface of the first electric field shielding layer to receive a shear force.

5. The capacitive shear force sensor as claimed in claim 4, wherein an upper surface of the upper board has a rough surface to receive the shear force.

6. The capacitive shear force sensor as claimed in claim 4, wherein an upper surface of the upper board has at least one bump to receive the shear force.

7. The capacitive shear force sensor as claimed in claim 4, wherein a material of the upper board is a hard material.

8. The capacitive shear force sensor as claimed in claim 7, wherein the hard material comprises a bakelite, a printed circuit board, a metal, or an ebonite rubber.

9. The capacitive shear force sensor as claimed in claim 1, further comprising:

a lower board, disposed on a lower surface of the second electric field shielding layer.

10. The capacitive shear force sensor as claimed in claim 9, wherein a lower surface of the lower board has at least one bump to receive a shear force.

11. The capacitive shear force sensor as claimed in claim 9, wherein the lower board is a printed circuit board.

12. The capacitive shear force sensor as claimed in claim 1, further comprising:

a first insulating layer, disposed between the first electric field shielding layer and the driving electrode; and

a second insulating layer, disposed between the second electric field shielding layer and the first sensing electrode, and disposed between the second electric field shielding layer and the second sensing electrode.

13. The capacitive shear force sensor as claimed in claim 12, wherein a material of the first insulating layer and the second insulating layer is a hard material.

14. The capacitive shear force sensor as claimed in claim 13, wherein the hard material comprises a printed circuit board or parylene.

15. The capacitive shear force sensor as claimed in claim 1, wherein a portion of the driving electrode is overlapped with the first sensing electrode, and a portion of the driving electrode is overlapped with the second sensing electrode.

16. The capacitive shear force sensor as claimed in claim 1, wherein the driving electrode is electrically connected to a driving signal source to receive a driving signal, the first sensing electrode is electrically connected to a first sensing terminal of a sensing circuit, the second sensing electrode is electrically connected to a second sensing terminal of the sensing circuit, and the sensing circuit detects a capacitance difference between the first capacitor and the second capacitor, wherein the capacitance difference is responsive to a shear force applied to the driving electrode.

17. The capacitive shear force sensor as claimed in claim 16, wherein when the shear force moves the driving electrode, a capacitance value of one of the first capacitor and the second capacitor decreases in response to the shear force, and a capacitance value of the other of the first capacitor and the second capacitor increases in response to the shear force.

18. The capacitive shear force sensor as claimed in claim 16, wherein the driving signal is a radio frequency signal.

19. The capacitive shear force sensor as claimed in claim 1, wherein a material of the dielectric layer is a soft material.

20. The capacitive shear force sensor as claimed in claim 19, wherein the soft material comprises polydimethylsiloxane or silicone rubber.

21. The capacitive shear force sensor as claimed in claim 1, further comprising:

a spacer, disposed between the lower surface of the first electric field shielding layer and the upper surface of the second electric field shielding layer.

22. The capacitive shear force sensor as claimed in claim 21, wherein a material of the spacer is a soft material.

23. The capacitive shear force sensor as claimed in claim 22, wherein the soft material comprises polydimethylsiloxane or silicone rubber.

24. The capacitive shear force sensor as claimed in claim 1, further comprising:

a third sensing electrode, disposed on the upper surface of the second electric field shielding layer, and disposed between the driving electrode and the second electric field shielding layer, wherein the third sensing electrode does not contact the first sensing electrode and the second sensing electrode, and the third sensing electrode and the driving electrode form a third capacitor; and

a fourth sensing electrode, disposed on the upper surface of the second electric field shielding layer, and disposed between the driving electrode and the second electric field shielding layer, wherein the fourth sensing electrode does not contact the first sensing electrode, the second sensing electrode and the third electrode, and the fourth sensing electrode and the driving electrode form a fourth capacitor, and

wherein the dielectric layer is disposed between the driving electrode and the third sensing electrode, and disposed between the driving electrode and the fourth sensing electrode.

25. The capacitive shear force sensor as claimed in claim 24, wherein a portion of the first sensing electrode is overlapped with the driving electrode, a portion of the second sensing electrode is overlapped with the driving electrode, a portion of the third sensing electrode is overlapped with the driving electrode, and a portion of the fourth sensing electrode is overlapped with the driving electrode.

26. The capacitive shear force sensor as claimed in claim 24, wherein the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode are respectively in a triangular shape, and the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode together form a rectangular shape.

27. The capacitive shear force sensor as claimed in claim 24, wherein the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode are respectively in a rectangular shape, and the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode together form a rectangular shape.

28. A method for fabricating a capacitive shear force sensor, comprising:

disposing a first electric field shielding layer having a lower surface;

disposing a driving electrode on the lower surface of the first electric field shielding layer;

disposing a second electric field shielding layer having an upper surface;

disposing a first sensing electrode and a second sensing electrode on the upper surface of the second electric field shielding layer, wherein the second sensing electrode does not contact the first sensing electrode;

stacking the first electric field shielding layer on the second electric field shielding layer, such that the driving electrode, the first sensing electrode and the second sensing electrode are disposed between the first electric field shielding layer and the second electric field shielding layer; and

disposing a dielectric layer between the driving electrode and the first sensing electrode and between the driving electrode and the second sensing electrode, wherein the first sensing electrode and the driving electrode form a first capacitor, and the second sensing electrode and the driving electrode form a second capacitor, wherein when a shear force is applied to the driving electrode, an overlapped area size of electrode plates of one of the first capacitor and the second capacitor is decreased in response to the shear force, and an overlapped area size of electrode plates of another one of the first capacitor and the second capacitor is increased in response to the shear force.

29. The method for fabricating the capacitive shear force sensor as claimed in claim 28, wherein the first electric field shielding layer is a conductive substrate, and an upper surface of the first electric field shielding layer has a rough surface to receive a shear force.

30. The method for fabricating the capacitive shear force sensor as claimed in claim 28, wherein the first electric field shielding layer is a conductive substrate, and an upper surface of the first electric field shielding layer has at least one bump to receive a shear force.

31. The method for fabricating the capacitive shear force sensor as claimed in claim 28, further comprising:

disposing an upper board on an upper surface of the first electric field shielding layer to receive a shear force.

32. The method for fabricating the capacitive shear force sensor as claimed in claim 31, further comprising:

forming a rough surface on an upper surface of the upper board to receive the shear force.

33. The method for fabricating the capacitive shear force sensor as claimed in claim 31, further comprising:

forming at least one bump on an upper surface of the upper board to receive the shear force.

34. The method for fabricating the capacitive shear force sensor as claimed in claim 31, wherein a material of the upper board is a hard material.

35. The method for fabricating the capacitive shear force sensor as claimed in claim 34, wherein the hard material comprises a bakelite, a printed circuit board, a metal, or an ebonite rubber.

36. The method for fabricating the capacitive shear force sensor as claimed in claim 28, further comprising:

disposing a lower board on a lower surface of the second electric field shielding layer.

37. The method for fabricating the capacitive shear force sensor as claimed in claim 36, further comprising:

forming at least one bump on a lower surface of the lower board to receive a shear force.

38. The method for fabricating the capacitive shear force sensor as claimed in claim 36, wherein the lower board is a printed circuit board.

39. The method for fabricating the capacitive shear force sensor as claimed in claim 28, further comprising:

disposing a first insulating layer between the first electric field shielding layer and the driving electrode; and

disposing a second insulating layer between the second electric field shielding layer and the first sensing electrode, and between the second electric field shielding layer and the second sensing electrode.

40. The method for fabricating the capacitive shear force sensor as claimed in claim 39, wherein a material of the first insulating layer and the second insulating layer is a hard material.

41. The method for fabricating the capacitive shear force sensor as claimed in claim 40, wherein the hard material comprises a printed circuit board or parylene.

42. The method for fabricating the capacitive shear force sensor as claimed in claim 28, wherein a portion of the driving electrode is overlapped with the first sensing electrode, and a portion of the driving electrode is overlapped with the second sensing electrode.

43. The method for fabricating the capacitive shear force sensor as claimed in claim 28, further comprising:

electrically connecting the driving electrode to a driving signal source to receive a driving signal;

electrically connecting the first sensing electrode to a first sensing terminal of a sensing circuit; and

electrically connecting the second sensing electrode to a second sensing terminal of the sensing circuit,

wherein the sensing circuit detects a capacitance difference between the first capacitor and the second capacitor, wherein the capacitance difference is responsive to a shear force applied to the driving electrode.

44. The method for fabricating the capacitive shear force sensor as claimed in claim 43, wherein when the shear force moves the driving electrode, a capacitance value of one of the first capacitor and the second capacitor decreases in response to the shear force, and a capacitance value of the other of the first capacitor and the second capacitor increases in response to the shear force.

45. The method for fabricating the capacitive shear force sensor as claimed in claim 28, wherein a material of the dielectric layer is a soft material.

46. The method for fabricating the capacitive shear force sensor as claimed in claim 45, wherein the soft material comprises polydimethylsiloxane or silicone rubber.

47. The method for fabricating the capacitive shear force sensor as claimed in claim 28, further comprising:

disposing a spacer between the lower surface of the first electric field shielding layer and the upper surface of the second electric field shielding layer.

48. The method for fabricating the capacitive shear force sensor as claimed in claim 47, wherein a material of the spacer is a soft material.

49. The method for fabricating the capacitive shear force sensor as claimed in claim 48, wherein the soft material comprises polydimethylsiloxane or silicone rubber.

50. The method for fabricating the capacitive shear force sensor as claimed in claim 28, further comprising:

disposing a third sensing electrode and a fourth sensing electrode on the upper surface of the second electric field shielding layer and between the driving electrode and the second electric field shielding layer, wherein the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode do not contact each other,

wherein the dielectric layer is disposed between the driving electrode and the third sensing electrode and between the driving electrode and the fourth sensing electrode, and

wherein the third sensing electrode and the driving electrode form a third capacitor, and the fourth sensing electrode and the driving electrode form a fourth capacitor.

51. The method for fabricating the capacitive shear force sensor as claimed in claim 50, wherein a portion of the first sensing electrode is overlapped with the driving electrode, a portion of the second sensing electrode is overlapped with the driving electrode, a portion of the third sensing electrode is overlapped with the driving electrode, and a portion of the fourth sensing electrode is overlapped with the driving electrode.

52. The method for fabricating the capacitive shear force sensor as claimed in claim 50, wherein the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode are respectively in a triangular shape, and the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode together form a rectangular shape.

53. The method for fabricating the capacitive shear force sensor as claimed in claim 50, wherein the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode are respectively in a triangular shape, and the first sensing electrode, the second sensing electrode, the third sensing electrode and the fourth sensing electrode together form a rectangular shape.