Pith Number

pith:A73635O4

pith:2022:A73635O47NSTPHW7H6QDLX2QGL

not attested not anchored not stored refs pending

BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies

Christopher J. Ford, Efi Psomopoulou, Haoran Li, Manuel G. Catalano, Matteo Bianchi, Nathan F. Lepora

arxiv:2206.12655 v1 · 2022-06-25 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{A73635O47NSTPHW7H6QDLX2QGL}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

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.

Receipt and verification

First computed	2026-07-05T08:43:48.718833Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

07f7edf5dcfb65379edf3fa035df5032db322b977f0cc66142a82d8e137d2981

Aliases

arxiv: 2206.12655 · arxiv_version: 2206.12655v1 · doi: 10.48550/arxiv.2206.12655 · pith_short_12: A73635O47NST · pith_short_16: A73635O47NSTPHW7 · pith_short_8: A73635O4

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/A73635O47NSTPHW7H6QDLX2QGL \
  | 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: 07f7edf5dcfb65379edf3fa035df5032db322b977f0cc66142a82d8e137d2981

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "58f222d504f6d4b12fb1f22efb6db181655471db16aaf7d9e2cd769a98df26b0",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-06-25T13:55:54Z",
    "title_canon_sha256": "4d2e70683795bc2889a77f2a0fa87867ecd36f8294d944307d48499c5ad52568"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2206.12655",
    "kind": "arxiv",
    "version": 1
  }
}