Notice of Violation of IEEE Publication Principles: A Miniaturized Five-Axis Isotropic Tactile Sensor for Robotic Manipulation

Abstract

Notice of Violation of IEEE Publication Principles Five-Axis Isotropic Sensor for Robotic Manipulation by Zhongyi Chu, Lin Su, Gen Chen, Jing Cui, and Fuchun Sun in IEEE Sensors Journal, Vol. 19, No. 22, Nov 2019 After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE’s Publication Principles. This paper contains portions of text from the paper(s) cited below. A credit notice is used, but due to the absence of quotation marks or offset text, copied material is not clearly referenced or specifically identified. Tactile Sensing for Gecko-Inspired Adhesion by X. Alice Wu, Srinivasan A. Suresh, Hao Jiang, John V. Ulmen, Elliot W. Hawkes, David L. Christensen and Mark R. Cutkosky in the Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Miniaturized multi-axis (force & torque) tactile sensors are paramount for the robot system to interact safely with the external environment, especially for the controlled adhesive robots. However, there exists a drawback--measurement anisotropy, which prevents sensors from performing equally well in all the directions and the high degree of integration. Based on the plate capacitive mechanism, this paper introduces a miniaturized 5-axis tactile sensing method with a novel doublelayer sensitive structure. Practically, shear force is detected by measuring the change of overlap area in the upper-layer-sensing cell, while the normal force and moment can be obtained by the variable space between two plates arranged in a 2 × 2-grid in the lower-layer-sensing cell. Moreover, in order to achieve the measurement isotropy, the relationship between the force/torque and the capacitance is clarified to facilitate the independent adjustment of the sensitivity of each axis. Based on the methodology, a miniature 5-axis flat tactile sensor is manufactured. The experimental results show that the shear sensitivity of the prepared sensor is over 0.2557pF/N within 7 N, reaching the same magnitude as normal force (0.2859pF/N over 3N range). The sensitivities of torque are over 1.8406 (N · m) -1 with a full-scale range of 0.04 N·m. The results demonstrate that the miniaturized tactile sensor is capable of isotropic measurement among 5-axis for robotic manipulation.