{"id":"https://openalex.org/W7152079102","doi":"https://doi.org/10.48550/arxiv.2604.05697","title":"GraspSense: Physically Grounded Grasp and Grip Planning for a Dexterous Robotic Hand via Language-Guided Perception and Force Maps","display_name":"GraspSense: Physically Grounded Grasp and Grip Planning for a Dexterous Robotic Hand via Language-Guided Perception and Force Maps","publication_year":2026,"publication_date":"2026-04-07","ids":{"openalex":"https://openalex.org/W7152079102","doi":"https://doi.org/10.48550/arxiv.2604.05697"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.05697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.05697","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133199237","display_name":"Elizaveta Semenyakina","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Semenyakina, Elizaveta","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083344470","display_name":"Ivan Snegirev","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Snegirev, Ivan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133171867","display_name":"Mariya Lezina","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lezina, Mariya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133198660","display_name":"Miguel Altamirano Cabrera","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cabrera, Miguel Altamirano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128808807","display_name":"Safina Gulyamova","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gulyamova, Safina","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133222192","display_name":"Dzmitry Tsetserukou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsetserukou, Dzmitry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9652000069618225,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9652000069618225,"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":0.02449999935925007,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.0027000000700354576,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9293000102043152},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5633000135421753},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5005000233650208},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.46779999136924744},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4251999855041504},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.39649999141693115},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.3955000042915344},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.37779998779296875},{"id":"https://openalex.org/keywords/hand-strength","display_name":"Hand strength","score":0.367000013589859},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.36090001463890076}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9293000102043152},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5633000135421753},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5005000233650208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4691999852657318},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.46779999136924744},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4519999921321869},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43860000371932983},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4251999855041504},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.39649999141693115},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3955000042915344},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.37779998779296875},{"id":"https://openalex.org/C2776255841","wikidata":"https://www.wikidata.org/wiki/Q5647202","display_name":"Hand strength","level":3,"score":0.367000013589859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36660000681877136},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.36090001463890076},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3562000095844269},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34860000014305115},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.3319000005722046},{"id":"https://openalex.org/C2780902562","wikidata":"https://www.wikidata.org/wiki/Q1154141","display_name":"Indentation","level":2,"score":0.3310000002384186},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C181773393","wikidata":"https://www.wikidata.org/wiki/Q336298","display_name":"Developable surface","level":3,"score":0.31060001254081726},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2985000014305115},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2809999883174896},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C7493553","wikidata":"https://www.wikidata.org/wiki/Q1520777","display_name":"Certainty","level":2,"score":0.26489999890327454},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.2572999894618988},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.05697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.05697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.642115592956543,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Dexterous":[0],"robotic":[1,66],"manipulation":[2,214],"requires":[3],"more":[4],"than":[5],"geometrically":[6,50],"valid":[7],"grasps:":[8],"it":[9],"demands":[10],"physically":[11,222],"grounded":[12,223],"contact":[13,39,75,114,174,198],"strategies":[14],"that":[15,109,148,190],"account":[16],"for":[17,57,233],"the":[18,24,32,46,81,84,95,111,161,168,173,191,210],"spatially":[19],"non-uniform":[20],"mechanical":[21],"properties":[22],"of":[23,72,163,227],"object.":[25],"However,":[26],"existing":[27],"grasp":[28,58,180,228],"planners":[29],"typically":[30],"treat":[31],"surface":[33,119],"as":[34],"structurally":[35,196],"homogeneous,":[36],"even":[37],"though":[38],"in":[40,63,153],"a":[41,49,55,64,70,106,145,216,221],"weak":[42],"region":[43],"can":[44],"damage":[45],"object":[47],"despite":[48],"perfect":[51],"grasp.":[52],"We":[53],"present":[54],"pipeline":[56],"selection":[59,229],"and":[60,93,130,178,186,200,230],"force":[61,107,115,171],"regulation":[62],"five-fingered":[65],"hand,":[67],"based":[68],"on":[69,183],"map":[71,108],"locally":[73,169],"admissible":[74,116,155,170],"loads.":[76],"From":[77],"an":[78],"operator":[79],"command,":[80],"system":[82],"identifies":[83],"target":[85],"object,":[86],"reconstructs":[87],"its":[88],"3D":[89],"geometry":[90],"using":[91,144],"SAM3D,":[92],"imports":[94],"model":[96],"into":[97,220],"Isaac":[98],"Sim.":[99],"A":[100],"physics-informed":[101],"geometric":[102,128,218],"analysis":[103],"then":[104],"computes":[105],"encodes":[110],"maximum":[112],"lateral":[113],"at":[117,172],"each":[118,164],"location":[120],"without":[121],"deformation.":[122],"Grasp":[123],"candidates":[124,135],"are":[125,136,142],"filtered":[126],"by":[127],"validity":[129],"task-goal":[131],"consistency.":[132],"When":[133],"multiple":[134],"comparable":[137],"under":[138],"classical":[139],"metrics,":[140],"they":[141],"re-ranked":[143],"force-map-aware":[146],"criterion":[147],"favors":[149],"grasps":[150],"with":[151],"contacts":[152],"mechanically":[154],"regions.":[156],"An":[157],"impedance":[158],"controller":[159],"scales":[160],"stiffness":[162],"finger":[165],"according":[166],"to":[167],"point,":[175],"enabling":[176],"safe":[177,205],"reliable":[179],"execution.":[181],"Validation":[182],"paper,":[184],"plastic,":[185],"glass":[187],"cups":[188],"shows":[189],"proposed":[192],"approach":[193],"consistently":[194],"selects":[195],"stronger":[197],"regions":[199],"keeps":[201],"grip":[202,231],"forces":[203],"within":[204],"bounds.":[206],"In":[207],"this":[208],"way,":[209],"work":[211],"reframes":[212],"dexterous":[213],"from":[215],"purely":[217],"problem":[219,226],"joint":[224],"planning":[225],"execution":[232],"future":[234],"humanoid":[235],"systems.":[236]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-09T00:00:00"}