Abstract
Actuator apparatus for generating a physical effect, at least one attribute of which corresponds to at least one characteristic of a digital input signal sampled periodically in accordance with a sampling clock, the apparatus comprising at least one actuator device, each actuator device including an array of moving elements, wherein each individual moving element is operative to be constrained to travel alternately back and forth along a respective axis responsive to an individual first electrostatic force operative thereupon, wherein each moving element has an at-rest position and is driven away from its at rest position solely by the first electrostatic force; and at least one electrode operative to apply a controlled temporal sequence of potential differences with at least one individual moving element from among the array of moving elements thereby to selectably generate the first electrostatic force; and a controller operative to receive the digital input signal and to control at least one of the at least one electrode and the individual moving element to apply the sequence of potential differences.
Claims
1. A passive matrix apparatus comprising: a plurality of N actuator elements arranged in N.sub.r rows and N.sub.c columns, wherein the actuator elements include at least one of: one-sided actuator elements, and two-sided actuator elements, wherein: each of the N actuator elements is indicated by a pair of numbers (i,j), where: N=N.sub.r×N.sub.c; i is a row number belonging to an interval from 1 to N.sub.r; and j is a column number belonging to an interval from 1 to N.sub.c; each of the N actuator elements including: an electroconductive moving element; at least one of two electroconductive electrodes: a top electrode and a bottom electrode, correspondingly, disposed on at least one of opposite sides of the electroconductive moving element so that application of a voltage between the electroconductive moving element and at least one of said top electrode and said bottom electrode generates a force driving said electroconductive moving element away from an at-rest position towards at least one of the top electrode and the bottom electrode, correspondingly; and a spring, characterized by a certain elasticity to: restrict motion of said electroconductive moving element from said at-rest position towards at least one of the top electrode and the bottom electrode, thereby allowing for said electroconductive moving element to reach at least one of the top electrode and the bottom electrode, only when the voltage applied between the electroconductive moving element and at least one of said top electrode and said bottom electrode, correspondingly, is sufficiently high; allow motion of said electroconductive moving element from at least one of the top electrode and the bottom electrode towards said at-rest position, only when the voltage applied between the electroconductive moving element and at least one of said top electrode and said bottom electrode, correspondingly, is sufficiently low; and prevent motion of said electroconductive moving element, when said electroconductive moving element is in a position latched adjacent to at least one of the top electrode and the bottom electrode and while the voltage, applied between the electroconductive moving element and at least one of said top electrode and said bottom electrode, correspondingly, is intermediate being at most equal to said sufficiently high voltage and higher than said sufficiently low voltage; and sets of mutually electro-isolated electrical connections, including: a set of row-oriented conductors, and at least one of a set of top column-oriented conductors, and a set of bottom column-oriented conductors, correspondingly, wherein: the electrical connections are designed to be capable of receiving electric potentials controlled by an external controller; and the electrical connections between the N actuator elements being such that: at least one of: the top electrodes of the N actuator elements belonging to the j-th column of said passive matrix apparatus are electrically connected to a common top column-oriented conductor, indicated as the j-th top electrical conductor for each of the 1-N.sub.c, columns; and the bottom electrodes of the N actuator elements belonging to the j-th column of said passive matrix apparatus are electrically connected to a common bottom column-oriented conductor, indicated as the j-th bottom electrical conductor for each of the 1-N.sub.c, columns; and the electroconductive moving elements of the N actuator elements belonging to the i-th row of said passive matrix apparatus are electrically connected to a common row-oriented conductor, indicated as the i-th electrical conductor for each of the 1-N.sub.r, rows; thereby, when the passive matrix apparatus is manipulated by: a tuple of said electric potentials, indicated by P(i), with i being a row number belonging to interval from 1 to N.sub.r, wherein P(i) is applied to said i-th electrical conductor, and at least one of: a tuple of said electric potentials, indicated by P.sub.top(j), with j being a column number belonging to interval from 1 to N.sub.c, wherein P.sub.top(j) is applied to said j-th top electrical conductor, and a tuple of said electric potentials, indicated by P.sub.bottom(j), with j being a column number belonging to interval from 1 to N.sub.c, wherein P.sub.bottom(j) is applied to said j-th bottom electrical conductor; the passive matrix apparatus provides a degree of freedom to establish a specific voltage, being at least one of said sufficiently high voltage, said intermediate voltage, and said sufficiently low voltage, determined by at least one of difference |P.sub.top(j)−P(i)| and difference |P.sub.bottom(j)−P(i)| between the electroconductive moving element and at least one of said top electrode and said bottom electrode, correspondingly, of the (i,j)-th actuator element, to provide a required position of the electroconductive moving element of the (i,j)-th actuator element without changing positions of the electroconductive moving elements of all others (N−1) actuator elements.
2. The passive matrix apparatus of claim 1, wherein, for at least one actuator element of the N actuator elements, the electroconductive moving element is mechanically connected to stationary portions of said actuator elements by the spring, the spring defining an axis along which the electroconductive moving element can travel, preventing the electroconductive moving element from travelling in other directions and defining said at-rest position of the electroconductive moving element.
3. The passive matrix apparatus of claim 1, further comprising a position sensor sensing the position of said electroconductive moving element of the (i,j)-th actuator element along the axis.
4. The passive matrix apparatus according to claim 3, wherein the position sensor comprises a capacitance sensor.
5. The passive matrix apparatus according to claim 3, wherein if said position sensor detects that an electroconductive moving element has an aberrant moving pattern, the external controller marks the electroconductive moving element as faulty and ignores said electroconductive moving element in further use of the passive matrix apparatus.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) Certain embodiments of the present invention are illustrated in the following drawings:
(2) FIG. 1 is a simplified functional block diagram of actuator apparatus constructed and operative in accordance with certain embodiments of the present invention.
(3) FIGS. 2A, 2B and 2C are cross-sectional illustrations of an individual actuator element in the apparatus of FIG. 1, constructed and operative in accordance with certain embodiments of the present invention. FIG. 2A shows the moving element in its resting position, with no voltage applied between the moving element and either electrode. FIG. 2B shows the moving element latched in one of its extreme positions. FIG. 2C shows the moving element latched in the other extreme position.
(4) FIGS. 3A, 3B and 3C are cross-sectional illustrations of an individual actuator element in the apparatus of FIG. 1, constructed and operative in accordance with certain embodiments of the present invention, including one moving element (120) suspended by a bearing (150), with two electrodes (130 and 140) disposed on opposite sides, where each electrode also serves as a mechanical limiter. The moving element is separated from the electrodes by two spacers (180 and 190). FIG. 3A shows the moving element in its resting position, with no voltage applied between the moving element and either electrode. FIG. 3B shows the moving element latched in one of its extreme positions. FIG. 3C shows the moving element latched in the other extreme position.
(5) FIGS. 4A, 4B and 4C are cross-sectional illustrations of an individual actuator element in the apparatus of FIG. 1, constructed and operative in accordance with certain embodiments of the present invention, including one moving element (120) suspended by a bearing (150), and two electrodes (130 and 140) disposed on opposite sides, and protruding dimples (210 and 220) on the surface of each electrode. FIG. 4A shows the moving element in its resting position, with no voltage applied between the moving element and either electrode. FIG. 4B shows the moving element latched in one of its extreme positions, with the dimples 210 on one electrode 130 creating an air gap (240) between the moving element (120) and electrode 130. FIG. 4C shows the moving element latched in the other extreme position, with the dimples 220 on the other electrode 140 creating an air gap (250) between the moving element (120) and electrode 140.
(6) FIG. 5 is a cross-sectional illustration of an actuator device, showing one individual moving element (120) suspended by a bearing (150), with a single electrode (300) which also serves as a mechanical limiter. The moving element is separated from the electrode (300) by a single spacer (310).
(7) FIG. 6 is a simplified schematic diagram of an array of actuator elements (110), each comprising a moving element (120) and one electrode (300), with moving elements arranged in rows and electrodes arranged in columns.
(8) FIG. 7 shows the array of FIG. 6 with voltage applied between row i (330) and column j (340) to control the [i,j]'th moving element (350).
(9) FIG. 8 shows the actuator device of FIG. 6 with voltage applied between row i (330) and several columns (360) to control several moving elements in row i (370).
(10) FIG. 9 shows the actuator device of FIG. 8 with row i (330) electrically connected to column j (340) to release the [i,j]'th moving element (350). Previously latched moving elements which are not electrically connected to their respective electrodes (380) remain latched.
(11) FIG. 10 is a simplified schematic diagram of an actuator device where each moving element has two electrodes, with moving elements (120) arranged in rows and top electrodes (130) and bottom electrodes (140) arranged in separate columns (410 and 420, respectively).
(12) FIG. 11 is a simplified schematic diagram of a one-sided matrix array element, comprising a moving element (120) with a single electrode (300), and a one-sided element drive circuit (500) electrically connected to one row (510) and one column (520) of an array of actuator elements.
(13) FIG. 12 is a simplified schematic diagram of an active, two-sided matrix array element, comprising a moving element (120) with two electrodes (130 and 140), and a two-sided element drive circuit (530) electrically connected to one row (510) and two columns (521 and 522) of an array of actuator elements, where each column controls one of the two electrodes.
(14) FIG. 13 is a simplified schematic diagram of an actuating device comprising multiple “sub-arrays” (601 to 604). Each sub-array typically comprises an array of actuator elements each having its own dedicated rows and columns but controlled by a single controller (50).
(15) FIG. 14 is a simplified schematic diagram of a “super-array” comprising multiple actuator arrays (611, 612, 613 and 614) wherein one electrical connection in the controller controls each of the p rows of all arrays in the first row of the super-array, one electrical connection in the controller controls each of the p rows of all arrays in the second row of the super-array, and so on.
(16) FIGS. 15A, 15B and 15C are graphs showing variation in the mutual capacitance between a moving element and an electrode, the voltage between them, the electrical charge stored in the mutual capacitance, and the resulting electrostatic force acting on the moving element, as a function of the separation distance between the moving element and the electrode in certain embodiments of the present invention.
(17) FIGS. 16A and 16B are simplified schematic diagrams of a one-sided actuator element incorporating certain types of voltage sensors (710 and 720) to provide certain information about the position of the moving element (120) relative to the electrode (300).
(18) FIG. 17 is a simplified schematic diagram of a two-sided actuator element with in an element drive circuit, in an array where electrodes are shared between actuator elements.
(19) FIG. 18 is a simplified schematic diagram of an actuator array comprising a plurality of the two-sided actuator elements described above with reference to FIG. 17.
DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS
(20) FIG. 1 is a simplified functional block diagram of actuator apparatus constructed and operative in accordance with certain embodiments of the present invention. The apparatus of FIG. 1 is operative to generate a physical effect, at least one attribute of which corresponds to at least one characteristic of a digital input signal sampled periodically in accordance with a sampling clock. It includes at least one actuator array 100 comprising a plurality of actuator elements, e.g. as shown in FIGS. 2A-5, and a controller 50 operative to receive the digital input signal and to control the actuator elements within the actuator array. Each actuator element may include a moving element and associated bearing, an electrode and spacer between the electrode and moving element, and optionally, mechanical limiters of the moving element's motion and/or dimples and/or an element drive circuit, all as shown and described herein.
(21) FIGS. 2A, 2B and 2C are cross-sectional illustrations of a two-sided actuator element constructed and operative in accordance with certain embodiments of the present invention. The actuator element includes a moving element 120 mechanically connected to the stationary portions of the actuator element by means of a suitable bearing 150 such as a flexure or spring. The bearing 150 defines an axis 125 along which the moving element 120 can travel, prevents the moving element 120 from travelling in other directions, and defines an at-rest position of the moving element 120. The actuator element further comprises two electrodes 130 and 140 disposed on opposite sides of the moving element 120. Depending on the digital input signal, the controller 50 of FIG. 1 (not shown here) may apply voltage between the moving element and either electrode, thus generating an electrostatic force to drive the moving element away from its at-rest position and towards the respective electrode. A pair of mechanical limiters 160 and 170 typically limit the motion of the moving element 120 along axis 125 in either direction. The moving element 120 is separated from the limiters 160 and 170 by spacers 180 and 190.
(22) FIG. 2A shows the moving element 120 in its resting position, with no voltage applied between the moving element 120 and either electrode 130 and 140. FIG. 2B shows the moving element latched in one of two extreme positions. FIG. 2C shows the moving element latched in the other extreme position.
(23) FIGS. 3A, 3B and 3C are cross-sectional illustrations of an actuator element which is similar to the actuator element of FIGS. 2A-2C except that the separately formed mechanical limiters 160 and 170 of FIGS. 2A-2C are omitted and electrodes 130 and 140 each serve also as a mechanical limiter. This embodiment relies on passivation, such as the native oxide layer present on silicon surfaces exposed to air, to prevent electrical short circuits between the moving element and either electrode. Alternatively, non-native passivation layers may also be added during one of the manufacturing process steps. FIG. 3A shows the moving element in its resting position, with no voltage applied between the moving element and either electrode. FIG. 3B shows the moving element latched in one of its extreme positions. FIG. 3C shows the moving element latched in the other extreme position.
(24) A particular advantage of this embodiment is that the manufacturing process is typically simpler and more cost-effective than the manufacturing process for an actuator element according to FIGS. 2A-2C.
(25) FIGS. 4A, 4B and 4C are cross-sectional illustrations of an actuator element which is similar to the apparatus of FIGS. 3A-3C except that dimples 210 and 220 are formed on the surfaces of the electrodes 130 and 140 respectively which each face the moving element 120. As a result, when the moving element 120 is in one of its extreme positions, it does not come into contact with the entirety of the facing surfaces of electrodes 130 or 140 and instead comes into contact only with the dimples 210 or 220 formed on electrodes 130 or 140 respectively thereby to form a gap such as an air gap 240. It is appreciated that the term “air gap” is used herein merely by way of example since the apparatus of the present invention normally operates in air however this need not be the case and alternatively, for example, the apparatus may operate in any other suitable medium.
(26) It is also appreciated that the dimples can be formed on the surface of the moving element 120 instead of the electrodes 210 and 220.
(27) A particular advantage of this embodiment is that releasing moving elements 120 from their extreme positions is typically easier than it would be e.g. in the embodiment of FIGS. 3A-3C because the air gaps 240 and 250 allow air to quickly flow into the space between the moving elements and the electrodes and/or because the dimples 210 and 220 prevent overly strong engagement e.g. due to squeeze film effects. This may also be the case for the embodiment of FIGS. 2A-2C however, manufacturing of dimples is typically simpler and more cost effective than manufacturing of a separate mechanical limiter layer. FIG. 4A shows the moving element in its resting position, with no voltage applied between the moving element and either electrode. FIG. 4B shows the moving element latched in one of its extreme positions. FIG. 4C shows the moving element latched in the other extreme position.
(28) FIG. 5 is a cross-sectional illustration of a one-sided actuator element constructed and operative in accordance with certain embodiments of the present invention. The actuator element is generally similar to the actuator element of FIG. 3A and also shown in its at rest position; however, unlike FIG. 3A, is one-sided in that it comprises only a single electrode 300 and a single spacer 310, whereas in FIG. 3A as described above, a pair of electrodes and a corresponding pair of spacers are provided. It is appreciated that, similarly, a one-sided version of the actuator devices of FIGS. 2A-2C and 4A-4C may be provided. It is appreciated that orientation of the devices shown and described herein relative to the horizontal need not be as shown. So, for example, the apparatus of FIGS. 2A-2B may be disposed such that the layers are horizontal, as shown, or may for example be disposed such that the layers are vertical. Also, the apparatus of FIG. 5 may be set on its side or may be inverted, if desired, such that the electrode layer 300 is atop the moving element 120 rather than vice versa. According to certain embodiments, the force of gravity is negligible, since the forces exerted on the moving element by the bearing 150 and the electrostatic forces generated by the electrode or electrodes are many orders of magnitude larger than gravitational forces.
(29) FIG. 6 is a simplified schematic diagram of an actuator array comprising a plurality of one-sided actuator elements 110 arranged in rows and columns, the one-sided actuator elements being characterized in that each actuator element 110 has only one electrode 300. As shown, electrical connections between the actuator elements are typically such that moving elements 120 are electrically connected, say, along the columns of the array and electrodes 300 are electrically connected, say, along the rows of the array. The controller 50 of FIG. 1 (not shown here) is typically operatively associated with the array such that voltage may be applied between any selected row and column.
(30) FIG. 7 shows the actuator device of FIG. 6 with voltage applied by the controller (not shown) between row 3 and column 3 which, as shown, results in the moving element 120 of the (3,3) actuator element moving toward the single electrode 300 of the actuator element (3,3) while all other actuator elements remain in their at-rest position.
(31) FIG. 8 shows the actuator device of FIG. 6 with voltage applied by the controller (not shown) between row 3 and columns 2, 3, and (q−1), which, as shown, results in the moving elements 120 of the (3,2), (3,3) and (3,q−1) actuator elements moving respectively toward their corresponding single electrode 300 i.e. that of the actuator elements (3,2), (3,3) and (3,q−1) respectively, while all other actuator elements other than these 3, remain in their at-rest position.
(32) FIG. 9 shows the actuator device of FIG. 8 after the third row has been shorted to the third column. As shown, actuator elements (3,2) and (3,q−1) remain in their previous positions, as shown in FIG. 8, because their circuits remain open such that electrical charge is maintained on these two actuator elements. Actuator element (3,3) however, returns to its at-rest position because the voltage between its electrode and its moving element, and hence the electro-static force acting upon this moving element, are now zero.
(33) FIG. 10 is a simplified schematic diagram of an actuator array comprising a plurality of two-sided actuator elements 110 arranged in rows and columns, the two-sided actuator elements being characterized in that each actuator element 110 has a pair of electrodes 130 and 140. As shown, electrical connections between the actuator elements are typically such that: (a) moving elements 120 are electrically connected, say, along the rows of the array; (b) the first set of electrodes 130 are electrically connected, say, along a first set of columns 410 of the array, and (c) the second set of electrodes 140 are electrically connected, say, along a second set of columns 420 of the array. The controller 50 (not shown) is typically operatively associated with the array such that voltage may be applied between any selected row and column.
(34) FIG. 11 is a simplified schematic diagram of a one-sided actuator element which is generally similar to an individual one of the actuator elements 110 of FIG. 6 except that a one-sided element drive circuit 500 is electrically connected to the row 510 and column 520 of the array to which the individual one-sided actuator element belongs. It is appreciated that one, some or all of the actuator elements of FIG. 11 may include an element drive circuit 500 as shown, or groups of elements may share a single drive circuit. The element drive circuit 500 may for example have a level shifting functionality allowing relatively high voltages, such as some tens of volts, to be applied between the electrode 300 and the moving element 120 under the control of low-voltage signals transmitted from the controller along the rows and columns to each element drive circuit within the array. Such high voltages may be useful for driving the actuator elements in accordance with the demands of the application.
(35) A particular advantage of this embodiment is that the controller (not shown) may then comprise a purely low-voltage device operating at voltages commonly used for digital circuitry, such as 3.3 V, making the controller 50 more cost-effective to manufacture. Alternatively or in addition, the element drive circuit 500 may have a memory functionality which allows effective simultaneous control of more actuator elements than can physically be simultaneously addressed, because, by virtue of the memory functionality, actuator elements (i,j) can retain a position other than their at-rest position even when the element is no longer being addressed.
(36) FIG. 12 is a simplified schematic diagram of a two-sided actuator element (an actuator element having 2 electrodes) which is generally similar to an individual one of the actuator elements of FIG. 10 except that a two-sided element drive circuit 530 is electrically connected to the row 510 and columns 521 and 522 of the array to which the individual two-sided actuator element belongs. It is appreciated that one, some or all of the two-sided actuator elements of FIG. 10 may include an element drive circuit 530 as shown, or groups of elements may share a single drive circuit. The element drive circuit 530 controls the voltage applied between the moving element 120 and either electrode 130 and 140, and may have any or all of the functionalities described above with reference to the element drive circuit 500 of FIG. 11.
(37) FIG. 13 is a simplified schematic diagram of the actuator apparatus of FIG. 1 in which multiple actuator arrays, such as n=4 arrays 601, 602, 603 and 604, of moving elements are provided, all controlled by a single controller 50. In particular, one electrical connection in the controller controls each of the p rows and each of the q columns of one array, and so on for each of the arrays, such that a total of n(p+q) electrical connections are provided in the controller for n arrays of p×q actuator elements. In the illustrated embodiment, n=4, p=q=9.
(38) FIG. 14 is a simplified schematic diagram of the actuator apparatus of FIG. 1 in which multiple identical arrays, such as n=4 arrays 611, 612, 613 and 614, of moving elements are provided, all controlled by a single controller 50. However, in FIG. 14, as opposed to FIG. 13, the arrays are themselves arranged in an array, termed herein a P×Q “super-array” such that one electrical connection in the controller controls each of the p rows of all arrays in the first row of the super-array, one electrical connection in the controller controls each of the p rows of all arrays in the second row of the super-array, and so on, with one electrical connection in the controller controlling each of the p rows of all arrays in the last, P'th row of the super-array. Similarly, one electrical connection in the controller controls each of the q columns of all arrays in the first column of the super-array, one electrical connection in the controller controls each of the q columns of all arrays in the second column of the super-array, and so on, with one electrical connection in the controller controlling each of the q columns of all arrays in the last, Q'th column of the super-array. Typically a total of (P×p+Q×q) electrical connections are provided in the controller for a P×Q “super-array” of p×q actuator arrays. In the illustrated embodiment, n=4, p=q=9; P=Q=2.
(39) FIG. 15A is a graph of the mutual capacitance between a moving element such as those described above with reference to FIGS. 1-14 and an electrode of an actuator element as a function of the separation distance between them. The particular values graphed relate to an example circular actuator element modelled as a parallel-plate capacitor with the moving element and electrode both having a diameter of 300 microns, and the dielectric being air.
(40) FIG. 15B shows the voltage across the parallel-plate capacitor of FIG. 15A, and the electrical charge stored on it, as a function of separation distance. In the illustrated example, initially, at a separation distance of 3 microns, the controller applies a voltage of 50V across the capacitor. The separation then decreases over time. After the separation distance reaches 1 micron, the controller opens the electrical connection to the electrode or the moving element such that charge can no longer enter or leave the capacitor. From this point onwards, the voltage between the moving element and the electrode decreases as separation distance decreases.
(41) FIG. 15C shows the electrostatic force acting on the moving element of FIGS. 15A and 15B, as a function of its separation distance from the electrode. Initially, with a constant voltage applied between the electrode and the moving element, the electrostatic force increases as separation distance decreases. However, after the controller opens the electrical connection, the electrostatic force remains constant as separation distance decreases further.
(42) FIGS. 16A and 16B are simplified schematic diagrams of one-sided actuator elements incorporating a voltage sensor. An electrode drive circuit (700) is provided which may be part of the controller shown in FIG. 1 or may be identical with the one-sided element drive circuit 500 of FIG. 11. Electrode drive circuit (700) initially charges the capacitor formed by the electrode (300) and the moving element (120) to a non-zero voltage, and subsequently disconnects at least one of the moving element or the electrode thereby preventing any transfer of electrical charge into or out of the capacitor. Any movement of the moving element (120) towards or away from the electrode (300) then causes the voltage on the capacitor to decrease or increase, respectively. A voltage sensor can detect this change in voltage, providing information about the position of the moving element (120).
(43) In FIG. 16A, the voltage sensor is an analog comparator (710) whose sense output comprises a binary signal indicating whether the voltage between the electrode and the moving element is higher or lower than a reference voltage.
(44) In FIG. 16B, the voltage sensor is an analog-to-digital converter (720) whose sense output comprises a multi-level rather than binary, typically numeric representation of the voltage between the electrode and the moving element.
(45) FIG. 17 is a simplified schematic diagram of a two-sided actuator element having an element drive circuit 532, in an array where electrodes are shared between actuator elements. The first electrode 130 is connected to a first electric potential 533, the second electrode 140 is connected to a second electric potential 534, and the element drive circuit 532 has only a single output electrically connected to the moving element 120.
(46) According to certain embodiments, the voltage between the top electrode and the bottom electrode is substantially constant during normal operation, or changes at a rate that is orders of magnitude lower than the actuation clock frequency. The element drive circuit 532 may, for example, contain a digital CMOS push-pull output stage capable of connecting the moving element 120 to either the first electric potential 533 or the second electric potential 534. When the moving element 120 is connected to the first electric potential 533, the voltage between it and the first electrode 130 is zero and the voltage between the moving element 120 and the second electrode 140 is non-zero, creating an electrostatic force that attracts the moving element 120 towards the second electrode 140. Likewise, when the moving element 120 is connected to the second electric potential 534, the voltage between it and the second electrode 140 is zero and the voltage between the moving element 120 and the first electrode 130 is non-zero, creating an electrostatic force that attracts the moving element 120 towards the first electrode 130.
(47) One-sided actuator elements such as those shown in FIG. 5 or FIG. 11 may alternatively be constructed with electrodes shared between actuator elements. The element drive circuit 532 may be implemented using technologies other than CMOS, such as but not limited to bipolar transistors. The output of the element drive circuit may be continuously variable rather than being restricted to two levels as described above. The output of the element drive circuit may have a high-impedance state (known in the art as “tri-state” or “hi-Z”), allowing it to prevent any transfer of electrical charge into or out of the pair of parallel-plate capacitors formed by the moving element 120 and the two electrodes, as described above with reference to FIG. 15B.
(48) FIG. 18 is a simplified schematic diagram of an actuator array comprising a plurality of the two-sided actuator elements described above with reference to FIG. 17. According to certain embodiments, the first electrode 130 of each actuator element is electrically connected to the first electrode of every other actuator element, and to a first electric potential 533; and likewise, the second electrode 140 of each actuator element is electrically connected to the second electrode of every other actuator element, and to a second electric potential 534.
(49) A particular advantage of the embodiment of FIG. 18 is that no electrical insulation is required between any of the first electrodes or any of the second electrodes; whereas the actuator arrays shown in FIGS. 6 and 10, or arrays of actuator elements such as those shown in FIGS. 11 and 12, do include electrical insulation between the electrodes of each actuator element. Hence, all the electrodes of FIG. 18 can be implemented as two continuous layers of electrically conductive material, such as doped silicon or aluminium, disposed on either side of the moving elements 120, without any need to divide these layers into electrically insulated areas. This allows for a simpler and more effective manufacturing process.
(50) Control algorithms suitable for implementing the controllers shown and described herein such as controller 50 of FIG. 1, are now described. Generally, the controller typically controls the position of each moving element in said actuator device as a function of the digital input signal sampled in accordance with a sampling clock. According to one embodiment of the present invention, the range of the digital input signal may be such that the number of values the signal can assume equals the number of actuator elements in the apparatus, and the sampling clock is of the same frequency as the actuation clock. In this case, the controller may implement an algorithm in which each data word of the digital input signal directly determines the number of moving elements in a certain position.
(51) For example, in an apparatus using one-sided actuator elements, the algorithm may latch or release individual moving elements such that the number of latched moving elements in the apparatus always equals the number represented by the last (most recently received) data word of the digital input signal received by the controller. Alternatively, the algorithm may be such that the number of unlatched moving elements equals the last data word received. In embodiments with two-sided actuator elements, the algorithm may be such that the number of moving elements latched into their first extreme position, or alternatively the number of moving elements latched into their second extreme position, equals the last data word received. Alternatively, the controller may implement an algorithm where each data word of the digital input signal determines a number of actuator elements to be moved (e.g. raised or lowered) along their respective axes.
(52) Other control algorithms may also take account of the actuator elements' impulse response in order to more accurately reproduce the digital input signal. Control algorithms may also include additional signal processing functions such as but not limited to volume and tone control as described in Applicants' co-pending application WO2007/135679, entitled “Volume And Tone Control In Direct Digital Speakers”. In general, the number of values that the digital input signal assumes may differ from the number of actuator elements in the apparatus, and therefore the controller may include a scaling function to match the digital input signal to the number of actuator elements available. Likewise, the sampling clock may differ from the actuation clock, and therefore the controller may include a re-sampling, sample rate conversion, interpolation or decimation function to match the sampling clock to the actuation clock.
(53) Where the number of actuator elements in the apparatus is lower than the number of values that the digital input signal can take and the actuation clock frequency is higher than the sampling clock frequency, known techniques such as oversampling, noise shaping, and sigma-delta modulation may be used to minimise the effect of quantization noise and to increase the effective resolution of the actuator device. In this connection reference is made to the above-referenced publications by M. Hawksford.
(54) Depending on the application, various different criteria may be used in selecting which specific moving elements are latched or released at a given time. For example, the controller may select moving elements occupying particular positions in the actuator device, in order to create a desired directivity pattern as described in applicants' co-pending application WO2007/135678 (“Direct digital speaker apparatus having a desired directivity pattern”). Alternatively, the controller may select moving elements in a pseudo-random fashion such as to minimise the effect of element mismatch (known term). Yet another option is for the controller to select moving elements in such a way as to simplify the control algorithm. These or any other selection criteria may also be combined.
(55) The controller may incorporate an industry standard interface to receive said digital input signal, such as but not limited to an I2S, AC'97, HDA, or SLIMbus interface (all these are known terms and may be trademarks).
(56) The moving elements and electrode or electrodes are typically fabricated from an electrically conductive material, such as doped monocrystalline silicon, doped polycrystalline silicon, or aluminum, or at least contain an electrically conductive layer. Spacing layers between moving elements and electrodes are typically fabricated from an electrically insulating material, such as silicon dioxide, or at least contain an electrically insulating layer. Bearings are typically fabricated from a material capable of elastic deformation without plastic deformation, such as monocrystalline silicon, polycrystalline silicon, or aluminum, such that bearings do not retain any permanent deformation in the absence of electrostatic forces, and moving elements always return to the exact same at-rest position when no electrostatic force is applied.
(57) Cost-effective mass production of the actuator devices described herein may for example be achieved as follows: Wafers such as silicon or aluminum wafers or SOI (silicon on insulator) wafers, of industry standard dimensions such as 6-inch or 8-inch diameter, may be used as a substrate for the fabrication of large numbers of actuator devices in existing microfabrication plants (known in the art as “fabs”). Depending on the desired size of the actuator device and the wafer size, a single wafer may have sufficient surface area to accommodate tens, hundreds or more actuator devices. Alternatively, if a large actuator device is desired, then the actuator device may be designed to fill the entire surface of a single wafer. Still larger actuator devices may be constructed by combining several large actuator arrays, each filling an entire wafer, into a single apparatus e.g. as described with reference to FIGS. 13 and 14. Wafers may be processed in industry standard batch sizes of, for example, twenty-five wafers at a time, using existing fab equipment designed for such batch sizes.
(58) The manufacturing process for actuator devices typically comprises a sequence of process steps, resulting in fully formed actuator devices. Each of the process steps follows a technique known in the semiconductor or MEMS industry, for which suitable equipment is commercially available, such as (but not limited to): photolithography, etching, thermal oxidation, chemical vapor deposition, trench isolation, ion implantation, and diffusion. Typically, each process step creates a certain feature for all actuator elements of all actuator devices on the same wafer at the same time, in a single step. For example, all bearings of all actuator elements on the wafer may be formed in a single etching process; all electrodes on the wafer may be doped in a single ion implantation or diffusion process to improve their electrical conductivity; and/or all electrodes or all moving elements on the wafer may be electrically isolated from each other in a single trench isolation step.
(59) Cost-effective mass production of the controller described herein may be achieved by implementing the controller as an application-specific integrated circuit (ASIC—well known term), using industry standard technology such as, for example, CMOS. Alternatively or in addition, existing, off-the-shelf electronic components may be used to implement some or all parts of the controller. Such electronic components may include (but are not limited to): integrated circuits, such as (but not limited to) FPGAs, CPLDs, DSPs or microprocessors (all known terms); discrete components, such as MOSFETs, bipolar transistors, diodes, or passives; or any combination of integrated circuits and discrete components. Certain parts of the controller may also be implemented in software rather than as hardwired electronic circuits. Such software parts may be executed by any suitable engine such as (but not limited to) a microprocessor, microcontroller or DSP, and may be written in any suitable programming language including: native machine code, any high-level programming language such as (but not limited to) C, C++, or Perl, any modeling language such as (but not limited to) MATLAB, or any hardware description language such as (but not limited to) Verilog or VHDL.
(60) Forming an entire apparatus including a controller and an actuating device may include fabrication as a single die on the same wafer. Depending on desired size of the actuator device, the size of the controller and the wafer size, a single wafer may accommodate many such apparatuses or only a single such apparatus. Alternatively, parts of the controller may be fabricated as part of the same die as the associated actuator device, with other parts fabricated as a separate integrated circuit, built from existing, off-the-shelf electronic components, or implemented in software, or any combination thereof. Where some or all parts of the controller are fabricated as an integrated circuit separately from the actuator device, the two separate fabrication processes of the controller and the actuator device respectively may differ in process flow, process geometry, number of process steps, number of masks or any other feature. This allows each fabrication process to be optimised separately to achieve, for example, lowest overall cost, smallest size, highest yield (known term), or any other desired property.
(61) It is appreciated that terminology such as “mandatory”, “required”, “need” and “must” refer to implementation choices made within the context of a particular implementation or application described herewithin for clarity and are not intended to be limiting since in an alternative implantation, the same elements might be defined as not mandatory and not required or might even be eliminated altogether.
(62) It is appreciated that certain functionalities described herein e.g. moving element control functionalities, may if desired be implemented in software.
(63) Features of the present invention which are described in the context of separate embodiments may also be provided in combination in a single embodiment. Conversely, features of the invention, including method steps, which are described for brevity in the context of a single embodiment or in a certain order may be provided separately or in any suitable subcombination or in a different order. “e.g.” is used herein in the sense of a specific example which is not intended to be limiting. It is appreciated that in the description and drawings shown and described herein, functionalities described or illustrated as systems and sub-units thereof can also be provided as methods and steps therewithin, and functionalities described or illustrated as methods and steps therewithin can also be provided as systems and sub-units thereof. The scale used to illustrate various elements in the drawings is merely exemplary and/or appropriate for clarity of presentation and is not intended to be limiting.
