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　2　x　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.