{"id":"https://openalex.org/W7154086190","doi":"https://doi.org/10.48550/arxiv.2604.09294","title":"A Benchmark of Dexterity for Anthropomorphic Robotic Hands","display_name":"A Benchmark of Dexterity for Anthropomorphic Robotic Hands","publication_year":2026,"publication_date":"2026-04-10","ids":{"openalex":"https://openalex.org/W7154086190","doi":"https://doi.org/10.48550/arxiv.2604.09294"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.09294","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.09294","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.09294","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5095912713","display_name":"Davide Liconti","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liconti, Davide","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133496434","display_name":"Yuning Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Yuning","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051624448","display_name":"Yasunori Toshimitsu","orcid":"https://orcid.org/0000-0003-4896-8742"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Toshimitsu, Yasunori","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133502739","display_name":"Ronan Hinchet","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hinchet, Ronan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133482067","display_name":"Robert K. Katzschmann","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Katzschmann, Robert K.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5095912713"],"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":0.4526999890804291,"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":0.4526999890804291,"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":0.3801000118255615,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.06210000067949295,"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/benchmark","display_name":"Benchmark (surveying)","score":0.843999981880188},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7031000256538391},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.699400007724762},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6455000042915344},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5777999758720398},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4205000102519989}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.843999981880188},{"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/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7031000256538391},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.699400007724762},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6455000042915344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6057000160217285},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5777999758720398},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46299999952316284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4205000102519989},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3594000041484833},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.358599990606308},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.350600004196167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30790001153945923},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.28540000319480896},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2736999988555908}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.09294","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.09294","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.09294","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.09294","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Dexterity":[0],"is":[1,21,95],"a":[2,43,63,74,138,183],"central":[3],"yet":[4],"ambiguously":[5],"defined":[6],"concept":[7],"in":[8,50,90,97],"the":[9,19,40],"design":[10],"and":[11,79,100,102,108,113,129,145,157,169,175,193],"evaluation":[12,159,176,194],"of":[13,47,77,177,186],"anthropomorphic":[14,178],"robotic":[15],"hands.":[16],"In":[17,57],"practice,":[18],"term":[20],"often":[22],"used":[23],"inconsistently,":[24],"with":[25],"different":[26,161],"systems":[27],"evaluated":[28],"under":[29],"disparate":[30],"criteria,":[31],"making":[32],"meaningful":[33],"comparisons":[34],"across":[35,73,160],"designs":[36,118],"difficult.":[37],"This":[38,153],"highlights":[39],"need":[41],"for":[42,172],"unified,":[44],"performance-based":[45],"definition":[46],"dexterity":[48,65,69,150],"grounded":[49],"measurable":[51],"outcomes":[52],"rather":[53],"than":[54],"proxy":[55],"metrics.":[56],"this":[58],"work,":[59],"we":[60],"introduce":[61],"POMDAR,":[62],"comprehensive":[64],"benchmark":[66,83,171],"that":[67],"formalizes":[68],"as":[70,151],"task":[71,117,124,143],"performance":[72],"structured":[75],"set":[76],"manipulation":[78,105,188],"grasping":[80],"motions.":[81],"The":[82,116],"was":[84],"systematically":[85],"derived":[86],"from":[87],"established":[88],"taxonomies":[89],"human":[91],"motor":[92],"control.":[93],"It":[94],"implemented":[96],"both":[98],"real-world":[99],"simulation":[101,191],"includes":[103],"four":[104],"configurations:":[106],"vertical":[107],"horizontal":[109],"configurations,":[110],"continuous":[111],"rotation,":[112],"pure":[114],"grasping.":[115],"contain":[119],"mechanical":[120],"scaffolding":[121],"to":[122,132,181],"constrain":[123],"motion,":[125],"suppress":[126],"compensatory":[127],"strategies,":[128],"enable":[130],"metrics":[131],"be":[133],"measured":[134],"unambiguously.":[135],"We":[136],"define":[137],"quantitative":[139],"scoring":[140],"metric":[141],"combining":[142],"correctness":[144],"execution":[146],"speed,":[147],"effectively":[148],"measuring":[149],"throughput.":[152],"enables":[154],"objective,":[155],"reproducible,":[156],"interpretable":[158],"hand":[162],"designs.":[163],"POMDAR":[164],"provides":[165],"an":[166],"open-source,":[167],"standardized,":[168],"taxonomy-grounded":[170],"consistent":[173],"comparison":[174],"robot":[179],"hands":[180],"facilitate":[182],"systematic":[184],"advancement":[185],"dexterous":[187],"platforms.":[189],"CAD,":[190],"files,":[192],"videos":[195],"are":[196],"publicly":[197],"available":[198],"at":[199],"https://srl-ethz.github.io/POMDAR/.":[200]},"counts_by_year":[],"updated_date":"2026-04-14T06:08:25.285971","created_date":"2026-04-14T00:00:00"}