{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:7B6XJKKOGZS53YQFIAIGVZICRW","short_pith_number":"pith:7B6XJKKO","canonical_record":{"source":{"id":"2403.01803","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T07:47:07Z","cross_cats_sorted":[],"title_canon_sha256":"7fccadfb39b01cdc4b13b1ffb68808eb48982c08eb3a1c137ad1803e7f74c840","abstract_canon_sha256":"9b5a4cb69c2b0c45a1e94f318d36f20f2976835fde0cdd02da6f1a8ea8742dac"},"schema_version":"1.0"},"canonical_sha256":"f87d74a94e3665dde20540106ae5028d9affe57c86b397f4394f6c2fdac6527e","source":{"kind":"arxiv","id":"2403.01803","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.01803","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"arxiv_version","alias_value":"2403.01803v1","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.01803","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"pith_short_12","alias_value":"7B6XJKKOGZS5","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"pith_short_16","alias_value":"7B6XJKKOGZS53YQF","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"pith_short_8","alias_value":"7B6XJKKO","created_at":"2026-07-05T07:51:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:7B6XJKKOGZS53YQFIAIGVZICRW","target":"record","payload":{"canonical_record":{"source":{"id":"2403.01803","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T07:47:07Z","cross_cats_sorted":[],"title_canon_sha256":"7fccadfb39b01cdc4b13b1ffb68808eb48982c08eb3a1c137ad1803e7f74c840","abstract_canon_sha256":"9b5a4cb69c2b0c45a1e94f318d36f20f2976835fde0cdd02da6f1a8ea8742dac"},"schema_version":"1.0"},"canonical_sha256":"f87d74a94e3665dde20540106ae5028d9affe57c86b397f4394f6c2fdac6527e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:51:52.048377Z","signature_b64":"etCwgLknp2uT10xvhFsj8Vyk93yej1V+p+r0df0OJgXfAC/SM1GpwIyj4m8giglKFcaMxyD4YRQZiorlCDjlAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f87d74a94e3665dde20540106ae5028d9affe57c86b397f4394f6c2fdac6527e","last_reissued_at":"2026-07-05T07:51:52.047883Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:51:52.047883Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.01803","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":"2026-07-05T07:51:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BSzIP9avonvybkg6fR1muuXCBvPyeb2UW9VDk7FxAsHGRXN1VfiqjDspxX3XhfTles1QbrYwpoRNlVQ5QKNUAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T13:00:55.042949Z"},"content_sha256":"77b8039c9191d2dac3c17a9574f4e90da6556ab8aa464665e57346d60468cbe8","schema_version":"1.0","event_id":"sha256:77b8039c9191d2dac3c17a9574f4e90da6556ab8aa464665e57346d60468cbe8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:7B6XJKKOGZS53YQFIAIGVZICRW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kei Okada, Kento Kawaharazuka, Masahiro Bando, Masayuki Inaba, Temma Suzuki","submitted_at":"2024-03-04T07:47:07Z","abstract_excerpt":"Improving the safety of collaborative manipulators necessitates the reduction of inertia in the moving part. Within this paper, we introduce a novel approach in the form of a passive 3D wire aligner, serving as a lightweight and low-friction power transmission mechanism, thus achieving the desired low inertia in the manipulator's operation. Through the utilization of this innovation, the consolidation of hefty actuators onto the root link becomes feasible, consequently enabling a supple drive characterized by minimal friction. To demonstrate the efficacy of this device, we fabricate an ultrali"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.01803","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/2403.01803/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":"2026-07-05T07:51:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u8JE2UiSO1tKtvAm3jZo8zxrcUslgRlVjpqhmCkK0ag/OXwe63QBZtRRLkWWCWVLCk69fEjJdn3lmf8dQ+2zDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T13:00:55.043462Z"},"content_sha256":"9be8cfdf65c4bd8930985c8728751b633ac0fc9ad73c81e3287cc157e05af120","schema_version":"1.0","event_id":"sha256:9be8cfdf65c4bd8930985c8728751b633ac0fc9ad73c81e3287cc157e05af120"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7B6XJKKOGZS53YQFIAIGVZICRW/bundle.json","state_url":"https://pith.science/pith/7B6XJKKOGZS53YQFIAIGVZICRW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7B6XJKKOGZS53YQFIAIGVZICRW/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":"2026-08-06T13:00:55Z","links":{"resolver":"https://pith.science/pith/7B6XJKKOGZS53YQFIAIGVZICRW","bundle":"https://pith.science/pith/7B6XJKKOGZS53YQFIAIGVZICRW/bundle.json","state":"https://pith.science/pith/7B6XJKKOGZS53YQFIAIGVZICRW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7B6XJKKOGZS53YQFIAIGVZICRW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:7B6XJKKOGZS53YQFIAIGVZICRW","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":"9b5a4cb69c2b0c45a1e94f318d36f20f2976835fde0cdd02da6f1a8ea8742dac","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T07:47:07Z","title_canon_sha256":"7fccadfb39b01cdc4b13b1ffb68808eb48982c08eb3a1c137ad1803e7f74c840"},"schema_version":"1.0","source":{"id":"2403.01803","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.01803","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"arxiv_version","alias_value":"2403.01803v1","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.01803","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"pith_short_12","alias_value":"7B6XJKKOGZS5","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"pith_short_16","alias_value":"7B6XJKKOGZS53YQF","created_at":"2026-07-05T07:51:52Z"},{"alias_kind":"pith_short_8","alias_value":"7B6XJKKO","created_at":"2026-07-05T07:51:52Z"}],"graph_snapshots":[{"event_id":"sha256:9be8cfdf65c4bd8930985c8728751b633ac0fc9ad73c81e3287cc157e05af120","target":"graph","created_at":"2026-07-05T07:51:52Z","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/2403.01803/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Improving the safety of collaborative manipulators necessitates the reduction of inertia in the moving part. Within this paper, we introduce a novel approach in the form of a passive 3D wire aligner, serving as a lightweight and low-friction power transmission mechanism, thus achieving the desired low inertia in the manipulator's operation. Through the utilization of this innovation, the consolidation of hefty actuators onto the root link becomes feasible, consequently enabling a supple drive characterized by minimal friction. To demonstrate the efficacy of this device, we fabricate an ultrali","authors_text":"Kei Okada, Kento Kawaharazuka, Masahiro Bando, Masayuki Inaba, Temma Suzuki","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T07:47:07Z","title":"SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.01803","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":"sha256:77b8039c9191d2dac3c17a9574f4e90da6556ab8aa464665e57346d60468cbe8","target":"record","created_at":"2026-07-05T07:51:52Z","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":"9b5a4cb69c2b0c45a1e94f318d36f20f2976835fde0cdd02da6f1a8ea8742dac","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T07:47:07Z","title_canon_sha256":"7fccadfb39b01cdc4b13b1ffb68808eb48982c08eb3a1c137ad1803e7f74c840"},"schema_version":"1.0","source":{"id":"2403.01803","kind":"arxiv","version":1}},"canonical_sha256":"f87d74a94e3665dde20540106ae5028d9affe57c86b397f4394f6c2fdac6527e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f87d74a94e3665dde20540106ae5028d9affe57c86b397f4394f6c2fdac6527e","first_computed_at":"2026-07-05T07:51:52.047883Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:51:52.047883Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"etCwgLknp2uT10xvhFsj8Vyk93yej1V+p+r0df0OJgXfAC/SM1GpwIyj4m8giglKFcaMxyD4YRQZiorlCDjlAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:51:52.048377Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.01803","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:77b8039c9191d2dac3c17a9574f4e90da6556ab8aa464665e57346d60468cbe8","sha256:9be8cfdf65c4bd8930985c8728751b633ac0fc9ad73c81e3287cc157e05af120"],"state_sha256":"74e98a19502de12dedb8878feaf6d8ac27e449d7776585f29f169df43da0522e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+GOD3e9KPWc4/5SUBgiZ1rPLl9rAfKzUug2WOpHINkrFOAuqxpVx/yLa53fXYGmLnaJb4Q5RL1VyH7Bocki+DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T13:00:55.049227Z","bundle_sha256":"257ec764964aee57db4b139033fc884c2b50812ce9e53e4f764936aa57b19a65"}}