{"id":"https://openalex.org/W7161229648","doi":"https://doi.org/10.48550/arxiv.2605.13925","title":"Towards Robotic Dexterous Hand Intelligence: A Survey","display_name":"Towards Robotic Dexterous Hand Intelligence: A Survey","publication_year":2026,"publication_date":"2026-05-13","ids":{"openalex":"https://openalex.org/W7161229648","doi":"https://doi.org/10.48550/arxiv.2605.13925"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.13925","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13925","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.2605.13925","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136271099","display_name":"Weiguang Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Weiguang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103679784","display_name":"Xihao Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Tian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136241653","display_name":"Tian Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Xihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136221575","display_name":"Rui Zhang","orcid":"https://orcid.org/0009-0006-4773-2729"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Rui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122950469","display_name":"Irwin King","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"King, Irwin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136222993","display_name":"Kaizhu Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Kaizhu","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":0.8159999847412109,"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":0.8159999847412109,"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":0.06610000133514404,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.019899999722838402,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4424000084400177},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4318000078201294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38600000739097595},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.3849000036716461},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.35830000042915344},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.33079999685287476}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5410000085830688},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5245000123977661},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4424000084400177},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4318000078201294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40869998931884766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38600000739097595},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.3788999915122986},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.35830000042915344},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3273000121116638},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.3034000098705292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2851000130176544},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26820001006126404},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.2587999999523163}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.13925","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13925","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.2605.13925","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13925","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":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.44435757398605347}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"dexterous":[1,62,104,160,188],"hands":[2],"are":[3,25],"central":[4],"to":[5,137,182,192],"contact-rich":[6],"manipulation,":[7],"with":[8,141],"rapid":[9],"progress":[10,136],"driven":[11],"by":[12,113],"advances":[13],"in":[14,87,120,144],"hardware,":[15],"sensing,":[16],"control,":[17],"simulation,":[18],"and":[19,40,47,79,93,100,116,130,150,163,177,191],"data":[20,175],"generation.":[21],"However,":[22],"existing":[23],"studies":[24],"often":[26],"developed":[27],"under":[28],"different":[29],"assumptions":[30],"regarding":[31],"hand":[32,63,81,161,189],"embodiments,":[33],"sensory":[34],"configurations,":[35],"task":[36],"settings,":[37],"training":[38],"data,":[39],"evaluation":[41,131],"protocols,":[42],"making":[43],"systematic":[44],"comparison":[45],"difficult":[46],"obscuring":[48],"the":[49,53,84,142,155,165,194],"developmental":[50],"trajectory":[51],"of":[52,61,158,187],"field.":[54],"This":[55],"survey":[56,180],"provides":[57],"a":[58,72,107,184],"holistic":[59],"review":[60,98],"research":[64,162,190],"from":[65,106],"four":[66],"complementary":[67],"aspects.":[68],"First,":[69],"we":[70,97,125,153],"present":[71],"hardware-level":[73],"analysis":[74],"covering":[75],"actuation,":[76],"transmission,":[77],"perception,":[78],"representative":[80,111],"designs,":[82],"highlighting":[83],"key":[85],"trade-offs":[86],"force":[88],"capability,":[89],"compliance,":[90],"bandwidth,":[91],"integration,":[92],"system":[94],"complexity.":[95],"Furthermore,":[96],"control":[99],"learning":[101],"methods":[102],"for":[103,199],"manipulation":[105],"methodological":[108,135,173],"perspective,":[109],"grouping":[110],"works":[112],"major":[114,156],"paradigms":[115],"tracing":[117],"their":[118],"evolution":[119],"chronological":[121],"order.":[122],"In":[123],"addition,":[124],"consolidate":[126],"datasets,":[127],"modality":[128],"design,":[129],"practices,":[132],"which":[133,145],"enables":[134],"be":[138],"interpreted":[139],"together":[140],"ways":[143],"it":[146],"is":[147],"trained,":[148],"benchmarked,":[149],"assessed.":[151],"Finally,":[152],"discuss":[154],"limitations":[157],"current":[159],"summarize":[164],"corresponding":[166],"future":[167,200],"directions.":[168],"By":[169],"connecting":[170],"hardware":[171],"analysis,":[172],"development,":[174],"resources,":[176],"evaluation,":[178],"this":[179],"aims":[181],"provide":[183],"structured":[185],"understanding":[186],"clarify":[193],"most":[195],"important":[196],"open":[197],"challenges":[198],"study.":[201]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-16T00:00:00"}
