It　is　an　emerging　challenge　for　robots　to　achieve　non-destructive　pick-and-place　manipulation　for　delicate　objects　under　low　normal　preload,　i.e.,　critical-contact　manipulation.　The　prominent　on-off　controllable　property　of　the　gecko-inspired　microwedge　adhesive　makes　critical-contact　manipulation　possible　for　robotic　end　effectors.　However,　it　is　difficult　for　end　effectors　to　actuate　the　micron-scale　microwedge　adhesive　and　detect　the　adhesion　state.　In　this　paper,　a　gecko-inspired　adhesive　robotic　end　effector　for　critical-contact　manipulation　is　proposed,　which　consists　of　a　half-scissor　variable-scale　actuator,　a　3-axis　high-sensitivity　isotropic　flexible　capacitive　tactile　sensor,　and　the　microwedge　adhesive.　The　half-scissor　variable-scale　actuator　is　designed　to　provide　pure　large　shear　loading　for　the　microwedge　adhesive　at　micron-scale　displacement　by　merely　controlling　the　normal　macro-scale　displacement　of　the　actuator.　Besides,　the　3-axis　high-sensitivity　isotropic　flexible　capacitive　tactile　sensor　is　designed　for　accurate　detection　of　multi-axis　contact　forces　and　the　adhesion　state　between　the　adhesive　and　objects　to　ensure　the　success　of　the　critical-contact　manipulation.　The　sensor　can　sense　the　shear　and　normal　forces　by　detecting　variations　of　the　overlap　and　distance　between　electrodes,　while　the　design　of　the　finger-like　electrodes　improves　the　sensitivity.　In　addition,　a　set　of　experiments　on　manipulating　objects　are　implemented　and　the　results　show　that　the　proposed　robotic　end　effector　can　provide　pure　large　shear　loading　for　the　microwedge　adhesive　at　micron-scale　displacement　and　can　detect　the　adhesion　state　between　the　microwedge　adhesive　and　objects　accurately　to　stably　grasp　delicate　objects　in　critical-contact　condition.