{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:72BZILMBTIDGSBWZV2P2I6GG5I","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":"0fa47468db51c2a2c8b66bf614c3d4c8cb854f2ef1f43636b407eca56b716723","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-12-14T00:27:49Z","title_canon_sha256":"63ba760ccd62919d5caaed6e78bcdb11e91c612f5019b7312d06b885a8c724ab"},"schema_version":"1.0","source":{"id":"1912.06753","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1912.06753","created_at":"2026-07-05T00:26:13Z"},{"alias_kind":"arxiv_version","alias_value":"1912.06753v1","created_at":"2026-07-05T00:26:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1912.06753","created_at":"2026-07-05T00:26:13Z"},{"alias_kind":"pith_short_12","alias_value":"72BZILMBTIDG","created_at":"2026-07-05T00:26:13Z"},{"alias_kind":"pith_short_16","alias_value":"72BZILMBTIDGSBWZ","created_at":"2026-07-05T00:26:13Z"},{"alias_kind":"pith_short_8","alias_value":"72BZILMB","created_at":"2026-07-05T00:26:13Z"}],"graph_snapshots":[{"event_id":"sha256:4b5a00bbc5455826cac9683c7e0a4a18ac5eb09f931b19c931d50bb7a16612eb","target":"graph","created_at":"2026-07-05T00:26:13Z","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/1912.06753/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger placement. Here, we present a soft, fingerless gripper capable of efficiently generating multiple grasping modes. It is based on a soft, cylindrical accordion structure containing coupled, parallel fluidic channels. It is controlled via pressure supplied from a single fluidic port. Inflation opens the gripper orifice for enveloping an object, while deflation allows","authors_text":"Elliot Hawkes, Li Wen, Mengjia Zhu, Shantonu Biswas, Tianmiao Wang, Yon Visell, Yufei Hao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-12-14T00:27:49Z","title":"A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1912.06753","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":"sha256:65925fdeb91385c256a58564ecc76b7ca31d06cb87931fb31ad383b122f971d6","target":"record","created_at":"2026-07-05T00:26:13Z","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":"0fa47468db51c2a2c8b66bf614c3d4c8cb854f2ef1f43636b407eca56b716723","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-12-14T00:27:49Z","title_canon_sha256":"63ba760ccd62919d5caaed6e78bcdb11e91c612f5019b7312d06b885a8c724ab"},"schema_version":"1.0","source":{"id":"1912.06753","kind":"arxiv","version":1}},"canonical_sha256":"fe83942d819a066906d9ae9fa478c6ea0436e6550294e8da13e673e70825cc8e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fe83942d819a066906d9ae9fa478c6ea0436e6550294e8da13e673e70825cc8e","first_computed_at":"2026-07-05T00:26:13.997012Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:26:13.997012Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aQ8/54O8QpI/J+7nQwEMAw1Q2Z3EphD3zNSwW+jyn5h/k8adl9HkS8ynuKddb7mI/lmxVin/EwnAwEcBsPVZAg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:26:13.997557Z","signed_message":"canonical_sha256_bytes"},"source_id":"1912.06753","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:65925fdeb91385c256a58564ecc76b7ca31d06cb87931fb31ad383b122f971d6","sha256:4b5a00bbc5455826cac9683c7e0a4a18ac5eb09f931b19c931d50bb7a16612eb"],"state_sha256":"4c64525d32869a4afaa18d32dd5c4e987cde05b7541f5459afde72519445cf1a"}