{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:62VAVWCDZW2W3T46R6QXTCTSUR","short_pith_number":"pith:62VAVWCD","canonical_record":{"source":{"id":"2208.12517","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-26T09:17:36Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"bcd62d80abee9f095b1a5cce714b7c661a9312fdcbee7273dd6ba92db3abd547","abstract_canon_sha256":"9cffc04146afbc1cc64f30fcf7e0fcdde634011c141de3a48eef6989e02d18e5"},"schema_version":"1.0"},"canonical_sha256":"f6aa0ad843cdb56dcf9e8fa1798a72a46d6a221e56d111945a9f31b3ca888a9d","source":{"kind":"arxiv","id":"2208.12517","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.12517","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"arxiv_version","alias_value":"2208.12517v1","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.12517","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"pith_short_12","alias_value":"62VAVWCDZW2W","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"pith_short_16","alias_value":"62VAVWCDZW2W3T46","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"pith_short_8","alias_value":"62VAVWCD","created_at":"2026-07-05T04:51:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:62VAVWCDZW2W3T46R6QXTCTSUR","target":"record","payload":{"canonical_record":{"source":{"id":"2208.12517","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-26T09:17:36Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"bcd62d80abee9f095b1a5cce714b7c661a9312fdcbee7273dd6ba92db3abd547","abstract_canon_sha256":"9cffc04146afbc1cc64f30fcf7e0fcdde634011c141de3a48eef6989e02d18e5"},"schema_version":"1.0"},"canonical_sha256":"f6aa0ad843cdb56dcf9e8fa1798a72a46d6a221e56d111945a9f31b3ca888a9d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:51:46.485281Z","signature_b64":"H/ZwcgIcw8BcDGhkSChRIFWSdo0UEK0NZtHAB59dyT3dmAPlnuSeEjIokGvCIRYA0yfUrQec026Ppt+UaOUZAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f6aa0ad843cdb56dcf9e8fa1798a72a46d6a221e56d111945a9f31b3ca888a9d","last_reissued_at":"2026-07-05T04:51:46.484869Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:51:46.484869Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2208.12517","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:51:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"20DJxYeTs/qg2kgbx7rKiNKoHs6Nx5yPexxRjipG1V2RvJ8zUmPI55wk+V2JXce23TAwnO2PcV6eRwVTfvkrDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T02:31:44.432089Z"},"content_sha256":"55d8d9aa49d58f3a20b3b7b6cd85bfc2ba8b9fd426856646a5958b08a4b5777b","schema_version":"1.0","event_id":"sha256:55d8d9aa49d58f3a20b3b7b6cd85bfc2ba8b9fd426856646a5958b08a4b5777b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:62VAVWCDZW2W3T46R6QXTCTSUR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Chen Qiu, Huixu Dong, I-Ming Chen, Miaoying He, Ye Pan, Yue Feng","submitted_at":"2022-08-26T09:17:36Z","abstract_excerpt":"We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position control strategy is proposed to separately control the force-position along the normal direction of the surface and another two-direction displacement, without the requirement of a robotic dynamics model. To evaluate its performance, we implement a series of robotic massage experiments. The results demon"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.12517","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2208.12517/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:51:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qhttixu2L7sBDHi1M3mGL/vh5JycD4/iefAGXkwKDhFgFskTGkXqwziwJdBU+jHYDODPoDumljyruScY9SvkBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-11T02:31:44.432605Z"},"content_sha256":"cf0b76777fc4ee6b9e85e8de29c9072455698519dbd7485a0944ceb807072a8f","schema_version":"1.0","event_id":"sha256:cf0b76777fc4ee6b9e85e8de29c9072455698519dbd7485a0944ceb807072a8f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/62VAVWCDZW2W3T46R6QXTCTSUR/bundle.json","state_url":"https://pith.science/pith/62VAVWCDZW2W3T46R6QXTCTSUR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/62VAVWCDZW2W3T46R6QXTCTSUR/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-11T02:31:44Z","links":{"resolver":"https://pith.science/pith/62VAVWCDZW2W3T46R6QXTCTSUR","bundle":"https://pith.science/pith/62VAVWCDZW2W3T46R6QXTCTSUR/bundle.json","state":"https://pith.science/pith/62VAVWCDZW2W3T46R6QXTCTSUR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/62VAVWCDZW2W3T46R6QXTCTSUR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:62VAVWCDZW2W3T46R6QXTCTSUR","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"9cffc04146afbc1cc64f30fcf7e0fcdde634011c141de3a48eef6989e02d18e5","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-26T09:17:36Z","title_canon_sha256":"bcd62d80abee9f095b1a5cce714b7c661a9312fdcbee7273dd6ba92db3abd547"},"schema_version":"1.0","source":{"id":"2208.12517","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.12517","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"arxiv_version","alias_value":"2208.12517v1","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.12517","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"pith_short_12","alias_value":"62VAVWCDZW2W","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"pith_short_16","alias_value":"62VAVWCDZW2W3T46","created_at":"2026-07-05T04:51:46Z"},{"alias_kind":"pith_short_8","alias_value":"62VAVWCD","created_at":"2026-07-05T04:51:46Z"}],"graph_snapshots":[{"event_id":"sha256:cf0b76777fc4ee6b9e85e8de29c9072455698519dbd7485a0944ceb807072a8f","target":"graph","created_at":"2026-07-05T04:51:46Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2208.12517/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position control strategy is proposed to separately control the force-position along the normal direction of the surface and another two-direction displacement, without the requirement of a robotic dynamics model. To evaluate its performance, we implement a series of robotic massage experiments. The results demon","authors_text":"Chen Qiu, Huixu Dong, I-Ming Chen, Miaoying He, Ye Pan, Yue Feng","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-26T09:17:36Z","title":"Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.12517","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:55d8d9aa49d58f3a20b3b7b6cd85bfc2ba8b9fd426856646a5958b08a4b5777b","target":"record","created_at":"2026-07-05T04:51:46Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"9cffc04146afbc1cc64f30fcf7e0fcdde634011c141de3a48eef6989e02d18e5","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-08-26T09:17:36Z","title_canon_sha256":"bcd62d80abee9f095b1a5cce714b7c661a9312fdcbee7273dd6ba92db3abd547"},"schema_version":"1.0","source":{"id":"2208.12517","kind":"arxiv","version":1}},"canonical_sha256":"f6aa0ad843cdb56dcf9e8fa1798a72a46d6a221e56d111945a9f31b3ca888a9d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f6aa0ad843cdb56dcf9e8fa1798a72a46d6a221e56d111945a9f31b3ca888a9d","first_computed_at":"2026-07-05T04:51:46.484869Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:51:46.484869Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"H/ZwcgIcw8BcDGhkSChRIFWSdo0UEK0NZtHAB59dyT3dmAPlnuSeEjIokGvCIRYA0yfUrQec026Ppt+UaOUZAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:51:46.485281Z","signed_message":"canonical_sha256_bytes"},"source_id":"2208.12517","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:55d8d9aa49d58f3a20b3b7b6cd85bfc2ba8b9fd426856646a5958b08a4b5777b","sha256:cf0b76777fc4ee6b9e85e8de29c9072455698519dbd7485a0944ceb807072a8f"],"state_sha256":"91b75d1e1b08f5d0c97d93a4cd78d4dcf8bee710b255faabab3d2eeb5942fed4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"m8VYIr2gaH4icGbaNXfhyhoe6gdpdN9fwIYWVW0+n/mz7z4rXOnAnLjvSuxW34I4bTORfVu5JNXkTJTmjMZaBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-11T02:31:44.436685Z","bundle_sha256":"d8d5dca9cc510d00c397d569c5625e048cf1351b7e6b98e17033876f81f1deb9"}}