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 <br><br>"Miniaturized Five-Axis Isotropic Tactile Sensor for Robotic Manipulation" <br>by Zhongyi Chu, Lin Su, Gen Chen, Jing Cui, and Fuchun Sun <br>in IEEE Sensors Journal, Vol. 19, No. 22, Nov 2019 <br><br> 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. <br><br>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. <br><br>"Tactile Sensing for Gecko-Inspired Adhesion" <br>by X. Alice Wu, Srinivasan A. Suresh, Hao Jiang, John V. Ulmen, Elliot W. Hawkes, David L. Christensen and Mark R. Cutkosky <br> in the Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) <br><br> <br/> 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 double-layer 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 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${2} \times {2}$ </tex-math></inline-formula> -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 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$({N}\cdot {m})^{-{1}}$ </tex-math></inline-formula> with a full-scale range of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$0.04~{N}\cdot {m}$ </tex-math></inline-formula> . The results demonstrate that the miniaturized tactile sensor is capable of isotropic measurement among 5-axis for robotic manipulation.