Quad-seesaw-electrode type 3-axis tactile sensor with low nonlinearities and low cross-axis sensitivities

Yoshiyuki Hata, Yutaka Nonomura, Yoshiteru Omura, Takahiro Nakayama, Motohiro Fujiyoshi, Hirofumi Funabashi, Teruhisa Akashi, Masanori Muroyama, Shuji Tanaka

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


This paper reports a microelectromechanical systems (MEMS) tactile sensor with a quad-seesaw-electrode (QSE) structure, which allows integration with a CMOS substrate. The QSE structure enables fully-differential detection and 3-axis force detection by utilizing the difference of the working mode of the four seesaw electrodes. In this study, we designed the sensor structure for upgrading of the 3-axis characteristics by improvement of the nonlinearities and miniaturization with sufficient sensitivities. Simulations by the finite element method (FEM) and capacitance calculations confirmed the 3-axis output characteristics, as well as the working principle. Then, a 3.0-mm-square sensor chip with the QSE structure was fabricated with a silicon-on-insulator (SOI) substrate and an anodically bondable low-temperature co-fired ceramics (LTCC) substrate as an alternative to the CMOS substrate. The measurement results successfully demonstrated the 3-axis fully-differential detections with principal-axis sensitivities over 20 fF/N, nonlinearities of almost 1% with 1 N full scale, and cross-axis sensitivities within 10%.

Original languageEnglish
Pages (from-to)24-35
Number of pages12
JournalSensors and Actuators A: Physical
Publication statusPublished - 2017 Oct 15


  • 3-axis force detection
  • Fully-differential capacitive detection
  • Microelectromechanical systems (MEMS)
  • Seesaw electrode
  • Silicon on insulator (SOI)
  • Tactile sensor


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