I grab my hot grill grates all the time using the silicone gloves from the grocery store.
They are like these:
http://www.amazon.com/Steven-Raichlen-B ... 345&sr=8-6
There are others out there, as well. I don't know that you could grab and hold a hot grate for long, I move pretty quickly with these and they have not burned through. Some older posts have a few links to this type of silicone glove.