Pith Number

pith:65RFKOOA

pith:2026:65RFKOOAPIBRI2JACPTEH7WT5F

not attested not anchored not stored refs resolved

Phantom Force: Injecting Adversarial Tactile Perceptions into Embodied Intelligence via EMI

Sze Yiu Chau, Youqian Zhang, Zirui Kong

Electromagnetic interference can create phantom forces in robot fingertip sensors by amplifying perceived magnitudes over nine times and deviating directions by 65 degrees.

arxiv:2605.13492 v1 · 2026-05-13 · cs.CR

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\usepackage{pith}
\pithnumber{65RFKOOAPIBRI2JACPTEH7WT5F}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

a targeted signal injection can induce strong ``phantom forces'', amplifying perceived force magnitude by over 9× and deviating the inferred force direction by 65°

C2weakest assumption

That the EMI attack can be delivered in a targeted, practical manner on real robot hardware without triggering other detectable effects or existing mitigations.

C3one line summary

EMI on Hall-effect fingertip sensors induces phantom forces amplifying perceived magnitude over 9x and deviating direction by 65 degrees, disrupting tactile classification in robots.

References

3 extracted · 3 resolved · 0 Pith anchors

[1] NVIDIA. [n. d.].Isaac Sim. https://github.com/isaac-sim/IsaacSim

[2] 2006.How the Body Shapes the Way We Think: A New View of Intelligence 2006 · doi:10.7551/mitpress/3585.001.0001

[3] Yuchuang Tong, Haotian Liu, and Zhengtao Zhang. 2024. Advancements in Humanoid Robots: A Comprehensive Review and Future Prospects.IEEE/CAA Journal of Automatica Sinica11, 2 (February 2024), 301–328. 2024 · doi:10.1109/jas.2023

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-18T02:44:41.154100Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f7625539c07a0314692013e643fed3e948e4d5fac464705db8e9185cc323622e

Aliases

arxiv: 2605.13492 · arxiv_version: 2605.13492v1 · doi: 10.48550/arxiv.2605.13492 · pith_short_12: 65RFKOOAPIBR · pith_short_16: 65RFKOOAPIBRI2JA · pith_short_8: 65RFKOOA

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Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/65RFKOOAPIBRI2JACPTEH7WT5F \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: f7625539c07a0314692013e643fed3e948e4d5fac464705db8e9185cc323622e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1e9b7d6bdf30990b1102805c4721a148364c6bf05c84619c976d8d502f0255c5",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.CR",
    "submitted_at": "2026-05-13T13:16:44Z",
    "title_canon_sha256": "b72d530fafae45a4360114003b56aa5787cae75b48a064bc369dfd97e951e5c1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13492",
    "kind": "arxiv",
    "version": 1
  }
}