{"id":"https://openalex.org/W7083025838","doi":"https://doi.org/10.1109/tro.2025.3613541","title":"Grasp Like Humans: Learning Generalizable Multifingered Grasping From Human Proprioceptive Sensorimotor Integration","display_name":"Grasp Like Humans: Learning Generalizable Multifingered Grasping From Human Proprioceptive Sensorimotor Integration","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7083025838","doi":"https://doi.org/10.1109/tro.2025.3613541"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3613541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3613541","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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":null,"display_name":"Ce Guo","orcid":"https://orcid.org/0000-0002-4472-4604"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ce Guo","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhiwen Zeng","orcid":"https://orcid.org/0009-0008-2963-0942"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Zeng","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zirui Guo","orcid":"https://orcid.org/0000-0003-0599-6348"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zirui Guo","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yihong Li","orcid":"https://orcid.org/0009-0000-8008-2488"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihong Li","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haoran Xiao","orcid":"https://orcid.org/0009-0000-5972-3236"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Xiao","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dewen Hu","orcid":"https://orcid.org/0000-0001-7357-0053"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dewen Hu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":null,"display_name":"Huimin Lu","orcid":"https://orcid.org/0000-0002-6375-581X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":2.4849,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93346682,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"41","issue":null,"first_page":"5700","last_page":"5719"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.40549999475479126,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.40549999475479126,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13177","display_name":"Geological and Geophysical Studies","score":0.05249999836087227,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13067","display_name":"Geological Modeling and Analysis","score":0.027699999511241913,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8700000047683716},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.7771000266075134},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6154999732971191},{"id":"https://openalex.org/keywords/wired-glove","display_name":"Wired glove","score":0.5866000056266785},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5806999802589417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5026999711990356},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4392000138759613},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4372999966144562},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4244000017642975}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8700000047683716},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.7771000266075134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6790000200271606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6672999858856201},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6154999732971191},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.5866000056266785},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5806999802589417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5026999711990356},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4392000138759613},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4372999966144562},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4244000017642975},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.421099990606308},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4018999934196472},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.39410001039505005},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3702000081539154},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.3605000078678131},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.34700000286102295},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.33500000834465027},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3334999978542328},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.3140999972820282},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2994999885559082},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2913999855518341},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.26510000228881836},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2574999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3613541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3613541","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W2032139276","https://openalex.org/W2126701792","https://openalex.org/W2805556115","https://openalex.org/W2947434510","https://openalex.org/W2969158650","https://openalex.org/W2979098108","https://openalex.org/W2981773282","https://openalex.org/W2990747716","https://openalex.org/W2994446013","https://openalex.org/W3006932462","https://openalex.org/W3016311333","https://openalex.org/W3099587965","https://openalex.org/W3119601298","https://openalex.org/W3126470627","https://openalex.org/W3130633756","https://openalex.org/W3131225419","https://openalex.org/W3133406196","https://openalex.org/W3133866887","https://openalex.org/W3155338920","https://openalex.org/W3205057533","https://openalex.org/W4205295909","https://openalex.org/W4206234515","https://openalex.org/W4221151978","https://openalex.org/W4285060105","https://openalex.org/W4285102406","https://openalex.org/W4285211014","https://openalex.org/W4298326869","https://openalex.org/W4306412000","https://openalex.org/W4310342457","https://openalex.org/W4312362134","https://openalex.org/W4320008850","https://openalex.org/W4362654503","https://openalex.org/W4382657775","https://openalex.org/W4383066208","https://openalex.org/W4383108759","https://openalex.org/W4385430674","https://openalex.org/W4386071465","https://openalex.org/W4387801285","https://openalex.org/W4388624566","https://openalex.org/W4389210434","https://openalex.org/W4390187921","https://openalex.org/W4390872441","https://openalex.org/W4391305718","https://openalex.org/W4391582481","https://openalex.org/W4400111043","https://openalex.org/W4400481697","https://openalex.org/W4400487956","https://openalex.org/W4401416138","https://openalex.org/W4402354127","https://openalex.org/W4402628207"],"related_works":[],"abstract_inverted_index":{"Tactile":[0],"and":[1,27,63,73,96,110,139,174,191,225,244,247,270,279,284],"kinesthetic":[2,28,97],"perceptions":[3],"are":[4,212,288],"crucial":[5],"for":[6,56,107,136,206],"human":[7,61,109,118,138,255],"dexterous":[8],"manipulation,":[9],"enabling":[10,132],"reliable":[11],"grasping":[12,80,135],"of":[13,134,148,259],"objects":[14,278],"via":[15,290],"proprioceptive":[16],"sensorimotor":[17],"integration.":[18],"For":[19],"robotic":[20,67,111,140,175,280],"hands,":[21,112],"even":[22],"though":[23],"acquiring":[24],"such":[25],"tactile":[26,95],"feedback":[29,39],"is":[30,76,105,262,274],"feasible,":[31],"establishing":[32],"a":[33,50,90,145,219],"direct":[34],"mapping":[35],"from":[36,60,116,199],"this":[37,46],"sensory":[38],"to":[40,66,93,195,202,215,254],"motor":[41],"actions":[42],"remains":[43],"challenging.":[44],"In":[45],"paper,":[47],"we":[48,88,143,178],"propose":[49],"novel":[51],"glove-mediated":[52],"tactile-kinematic":[53],"perception-prediction":[54],"framework":[55],"grasp":[57,236,246],"skill":[58],"transfer":[59],"intuitive":[62],"natural":[64,117],"operation":[65],"execution":[68],"based":[69,151],"on":[70,152],"imitation":[71],"learning,":[72],"its":[74,271],"effectiveness":[75],"validated":[77,264],"through":[78,218,265],"generalized":[79],"tasks,":[81],"including":[82],"those":[83],"involving":[84],"deformable":[85],"objects.":[86],"Firstly,":[87],"integrate":[89,160],"data":[91,98,114,130],"glove":[92,104],"capture":[94],"at":[99],"the":[100,128,161,165,169,180],"joint":[101],"level.":[102],"The":[103,257,282],"adaptable":[106],"both":[108,137,245],"allowing":[113],"collection":[115],"hand":[119,208],"demonstrations":[120],"across":[121,171,276],"different":[122,172],"scenarios.":[123],"It":[124],"ensures":[125],"consistency":[126],"in":[127,235],"raw":[129],"format,":[131],"evaluation":[133],"hands.":[141,176,281],"Secondly,":[142],"establish":[144],"unified":[146],"representation":[147],"multi-modal":[149],"inputs":[150,201],"graph":[153,200],"structures":[154],"with":[155],"polar":[156],"coordinates.":[157],"We":[158],"explicitly":[159],"morphological":[162],"differences":[163],"into":[164],"designed":[166],"representation,":[167],"enhancing":[168],"compatibility":[170],"demonstrators":[173],"Furthermore,":[177],"introduce":[179],"Tactile-Kinesthetic":[181],"Spatio-Temporal":[182],"Graph":[183],"Networks":[184],"(TK-STGN),":[185],"which":[186],"leverage":[187],"multidimensional":[188],"subgraph":[189],"convolutions":[190],"attention-based":[192],"LSTM":[193],"layers":[194],"extract":[196],"spatio-temporal":[197],"features":[198],"predict":[203],"node-based":[204],"states":[205],"each":[207],"joint.":[209],"These":[210],"predictions":[211],"then":[213],"mapped":[214],"final":[216],"commands":[217],"force-position":[220],"hybrid":[221],"mapping.":[222],"Comparative":[223],"experiments":[224],"ablation":[226],"studies":[227],"demonstrate":[228],"that":[229],"our":[230,260],"approach":[231,261],"surpasses":[232],"other":[233],"methods":[234],"success":[237],"rate,":[238],"finger":[239],"coordination,":[240],"contact":[241],"force":[242],"management,":[243],"computational":[248],"efficiency,":[249],"achieving":[250],"results":[251],"most":[252],"akin":[253],"grasping.":[256],"robustness":[258],"also":[263],"multiple":[266],"randomized":[267],"experimental":[268],"setups,":[269],"generalization":[272],"capability":[273],"tested":[275],"diverse":[277],"dataset":[283],"additional":[285],"supporting":[286],"videos":[287],"accessible":[289],"<uri":[291],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[292],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://grasplikehuman.github.io/</uri>.":[293]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}