{"id":"https://openalex.org/W4416750235","doi":"https://doi.org/10.1109/iros60139.2025.11246670","title":"EIC Framework for Hand Exoskeletons Based on a Multimodal Large Language Model","display_name":"EIC Framework for Hand Exoskeletons Based on a Multimodal Large Language Model","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750235","doi":"https://doi.org/10.1109/iros60139.2025.11246670"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035306577","display_name":"Houcheng Li","orcid":"https://orcid.org/0000-0002-8176-9772"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Houcheng Li","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100760738","display_name":"Zhongqing Su","orcid":"https://orcid.org/0000-0003-1524-0026"},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenchan Su","raw_affiliation_strings":["China University of Geosciences (Beijing),School of Information Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China University of Geosciences (Beijing),School of Information Engineering,Beijing,China","institution_ids":["https://openalex.org/I3125743391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101200755","display_name":"Honglei Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honglei Guo","raw_affiliation_strings":["China University of Geosciences (Beijing),School of Information Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"China University of Geosciences (Beijing),School of Information Engineering,Beijing,China","institution_ids":["https://openalex.org/I3125743391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398543","display_name":"Yifan Wang","orcid":"https://orcid.org/0000-0001-9966-682X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Wang","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376650","display_name":"Zeyu Liu","orcid":"https://orcid.org/0009-0007-9161-3775"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Liu","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073321754","display_name":"Long Cheng","orcid":"https://orcid.org/0000-0003-1638-059X"},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5035306577"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43173616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10063","last_page":"10068"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.24619999527931213,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.24619999527931213,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.19599999487400055,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.10530000180006027,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.79339998960495},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7623000144958496},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.6899999976158142},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6452000141143799},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.5989999771118164},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5458999872207642},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.5151000022888184},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41999998688697815}],"concepts":[{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.79339998960495},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7623000144958496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7409999966621399},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.6899999976158142},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6452000141143799},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.5989999771118164},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5458999872207642},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5361999869346619},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5293999910354614},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.5151000022888184},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41999998688697815},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3547999858856201},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32659998536109924},{"id":"https://openalex.org/C159437735","wikidata":"https://www.wikidata.org/wiki/Q1519524","display_name":"Gesture recognition","level":3,"score":0.32190001010894775},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.273499995470047},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C20253421","wikidata":"https://www.wikidata.org/wiki/Q477298","display_name":"Body language","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2904422212","https://openalex.org/W2914139746","https://openalex.org/W3213937200","https://openalex.org/W4200202418","https://openalex.org/W4285237607","https://openalex.org/W4298159557","https://openalex.org/W4312309158","https://openalex.org/W4392169153","https://openalex.org/W4393404844","https://openalex.org/W4402352613","https://openalex.org/W4404788398","https://openalex.org/W4405056194","https://openalex.org/W4406387080","https://openalex.org/W4411086295"],"related_works":[],"abstract_inverted_index":{"Current":[0],"hand":[1,13,61,104],"exoskeleton":[2],"interaction":[3,56,74],"methods":[4],"primarily":[5],"focus":[6],"on":[7,18,64],"recognizing":[8],"a":[9,65],"limited":[10],"range":[11],"of":[12,79,135,154],"motion":[14,105,110,125],"intentions":[15,106],"and":[16,81,91,107,132,143,152],"rely":[17],"pre-programmed":[19],"control":[20,57,117],"to":[21,122],"execute":[22,123],"predefined":[23],"commands.":[24],"However,":[25],"these":[26],"approaches":[27],"face":[28],"significant":[29],"limitations":[30],"when":[31],"confronted":[32],"with":[33],"unanticipated":[34],"or":[35,43],"non-predefined":[36],"scenarios,":[37],"such":[38],"as":[39],"performing":[40],"various":[41],"gestures":[42,142],"grasping":[44,144],"different":[45],"objects.":[46],"To":[47],"address":[48],"this":[49,51],"challenge,":[50],"paper":[52],"proposes":[53],"an":[54,72],"embodied":[55,73],"(EIC)":[58],"framework":[59,138],"for":[60,112],"exoskeletons":[62],"based":[63],"multimodal":[66],"large":[67],"language":[68],"model":[69],"(MLLM).":[70],"First,":[71],"method":[75],"leveraging":[76,128],"multi-modal":[77,97],"fusion":[78],"speech":[80],"image":[82],"information":[83],"is":[84,119],"developed,":[85],"enabling":[86],"more":[87],"intuitive,":[88],"hands-free,":[89],"accurate,":[90],"robust":[92],"human-robot":[93],"interaction.":[94],"By":[95],"utilizing":[96],"data,":[98],"the":[99,102,113,124,129,137,150,155],"MLLM":[100],"infers":[101],"user\u2019s":[103],"generates":[108],"corresponding":[109],"plans":[111],"exoskeleton.":[114],"The":[115],"underlying":[116],"strategy":[118],"then":[120],"used":[121],"planning.":[126],"Notably,":[127],"advanced":[130],"reasoning":[131],"code-generation":[133],"capabilities":[134],"MLLMs,":[136],"can":[139],"generate":[140],"undefined":[141],"actions.":[145],"Finally,":[146],"experimental":[147],"results":[148],"validate":[149],"effectiveness":[151],"generalizability":[153],"EIC":[156],"framework.":[157]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
