{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,17]],"date-time":"2026-10-17T00:10:31Z","timestamp":1792195831393,"version":"4.4.0"},"reference-count":41,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2025,3,18]],"date-time":"2025-03-18T00:00:00Z","timestamp":1742256000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Nature Science Foundation of China","doi-asserted-by":"publisher","award":["62303187"],"award-info":[{"award-number":["62303187"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Nature Science Foundation of China","doi-asserted-by":"publisher","award":["2022B1212010004"],"award-info":[{"award-number":["2022B1212010004"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Guangdong Provincial Key Laboratory of Human Digital Twin","award":["62303187"],"award-info":[{"award-number":["62303187"]}]},{"name":"Guangdong Provincial Key Laboratory of Human Digital Twin","award":["2022B1212010004"],"award-info":[{"award-number":["2022B1212010004"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Dexterous robotic grasping with multifingered hands remains a critical challenge in non-visual environments, where diverse object geometries and material properties demand adaptive force modulation and tactile-aware manipulation. To address this, we propose the Reinforcement Learning-Based Multimodal Perception (RLMP) framework, which integrates human-like grasping intuition through operator-worn gloves with tactile-guided reinforcement learning. The framework\u2019s key innovation lies in its Tactile-Driven DCNN architecture\u2014a lightweight convolutional network achieving 98.5% object recognition accuracy using spatiotemporal pressure patterns\u2014coupled with an RL policy refinement mechanism that dynamically correlates finger kinematics with real-time tactile feedback. Experimental results demonstrate reliable grasping performance across deformable and rigid objects while maintaining force precision critical for fragile targets. By bridging human teleoperation with autonomous tactile adaptation, RLMP eliminates dependency on visual input and predefined object models, establishing a new paradigm for robotic dexterity in occlusion-rich scenarios.<\/jats:p>","DOI":"10.3390\/biomimetics10030186","type":"journal-article","created":{"date-parts":[[2025,3,18]],"date-time":"2025-03-18T07:20:00Z","timestamp":1742282400000},"page":"186","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Human-like Dexterous Grasping Through Reinforcement Learning and Multimodal Perception"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2091-3718","authenticated-orcid":false,"given":"Wen","family":"Qi","sequence":"first","affiliation":[{"name":"School of Future Technology, South China University of Technology, Guangzhou 511442, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haoyu","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Future Technology, South China University of Technology, Guangzhou 511442, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cankun","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Future Technology, South China University of Technology, Guangzhou 511442, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6877-6783","authenticated-orcid":false,"given":"Hang","family":"Su","sequence":"additional","affiliation":[{"name":"The IBISC Laboratory, UEVE, University of Paris-Saclay, 91000 Evry, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Samer","family":"Alfayad","sequence":"additional","affiliation":[{"name":"The IBISC Laboratory, UEVE, University of Paris-Saclay, 91000 Evry, France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,3,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zhu, T., Wu, R., Lin, X., and Sun, Y. 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