{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:6I5ECZXUMSNXPCNM5ZNKIC76EH","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":"9f6af45e0fa860efeb89a352f09362edf512f68b36342fa33c544c4989588a9d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-02-14T13:06:18Z","title_canon_sha256":"417a4f6119a645fdf246fb4196656deb53009f0ac1285b295d2981f67a88daf4"},"schema_version":"1.0","source":{"id":"1902.05338","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.05338","created_at":"2026-05-17T23:54:01Z"},{"alias_kind":"arxiv_version","alias_value":"1902.05338v1","created_at":"2026-05-17T23:54:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.05338","created_at":"2026-05-17T23:54:01Z"},{"alias_kind":"pith_short_12","alias_value":"6I5ECZXUMSNX","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_16","alias_value":"6I5ECZXUMSNXPCNM","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_8","alias_value":"6I5ECZXU","created_at":"2026-05-18T12:33:10Z"}],"graph_snapshots":[{"event_id":"sha256:5fe08951ae67c45d6ac5ef5ca3090a14e15b7029ac4fe102149eb1fadef93397","target":"graph","created_at":"2026-05-17T23:54:01Z","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"},"paper":{"abstract_excerpt":"This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force measurement of the SEA caused by nonlinearities of the elastic transmission and measurement noise and error of its deformation sensor. This paper first analyzes the limitation of the conventional methods for the SEA transmission force sensing and then investigates its stochastic characteristics, which indeed provide the base to render the accurate force contro","authors_text":"Chan Lee, Jinoh Lee, Sehoon Oh","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-02-14T13:06:18Z","title":"Towards Accurate Force Control of Series Elastic Actuators Exploiting a Robust Transmission Force Observer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.05338","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":"sha256:12158e08efaaa4ee6e54207cf11ba034262e910c93083ac4109426d850f43161","target":"record","created_at":"2026-05-17T23:54:01Z","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":"9f6af45e0fa860efeb89a352f09362edf512f68b36342fa33c544c4989588a9d","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2019-02-14T13:06:18Z","title_canon_sha256":"417a4f6119a645fdf246fb4196656deb53009f0ac1285b295d2981f67a88daf4"},"schema_version":"1.0","source":{"id":"1902.05338","kind":"arxiv","version":1}},"canonical_sha256":"f23a4166f4649b7789acee5aa40bfe21c29210d50ff7f0f948725147a7cfa43e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f23a4166f4649b7789acee5aa40bfe21c29210d50ff7f0f948725147a7cfa43e","first_computed_at":"2026-05-17T23:54:01.147252Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:54:01.147252Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bgQczHHb5Gumvgr9U4wxwvSN4QAGgIh22FxlALEqZlWUVJk9xBInXxh8nn7RMvc0RylAGGfWLYP6L8uDd4UjAw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:54:01.148153Z","signed_message":"canonical_sha256_bytes"},"source_id":"1902.05338","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:12158e08efaaa4ee6e54207cf11ba034262e910c93083ac4109426d850f43161","sha256:5fe08951ae67c45d6ac5ef5ca3090a14e15b7029ac4fe102149eb1fadef93397"],"state_sha256":"613bb7ccd832585449f51278277679b062d4dd1f0459fb0b77baf1dfb8b62ace"}