{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:AFUTQTPS65LCMK3HHZVKTHZ6RL","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":"f5fa99ce358a18e92f22bf00e94d6fbd18ab0c9193b7606f53ba11b0d012a124","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-07T10:50:18Z","title_canon_sha256":"94a3931ff8001e34fa33d6e333da9c94be6c0b3078d01373be92e0aa9a507748"},"schema_version":"1.0","source":{"id":"2111.04046","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.04046","created_at":"2026-07-05T03:29:55Z"},{"alias_kind":"arxiv_version","alias_value":"2111.04046v1","created_at":"2026-07-05T03:29:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.04046","created_at":"2026-07-05T03:29:55Z"},{"alias_kind":"pith_short_12","alias_value":"AFUTQTPS65LC","created_at":"2026-07-05T03:29:55Z"},{"alias_kind":"pith_short_16","alias_value":"AFUTQTPS65LCMK3H","created_at":"2026-07-05T03:29:55Z"},{"alias_kind":"pith_short_8","alias_value":"AFUTQTPS","created_at":"2026-07-05T03:29:55Z"}],"graph_snapshots":[{"event_id":"sha256:3aac55b5b6e1426f074844bdd2772f7ffb76754c9abadc0befcf31fcd0b5e7b5","target":"graph","created_at":"2026-07-05T03:29:55Z","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/2111.04046/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high compliance and robustness to variance in object geometry; however, they are still limited by the corresponding sensing capabilities and actuation mechanisms. We propose a novel soft gripper that looks like a granary with a compliant snap-through bistable mechanism fabricated by integrated mold technology, achieving sensing and actuation purely mechanically. In p","authors_text":"Chao-Yu Chen, Chen-Hua Yeow, Chen Qiu, Haoyong Yu, Huixu Dong","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-07T10:50:18Z","title":"GSG: A Granary Soft Gripper with Mechanical Force Sensing via 3-Dimensional Snap-Through Structure"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.04046","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":"sha256:5b069c154aaa823c3a14b8c57bf68ebaa113e183adc7ad32a4c3d5ed619bb427","target":"record","created_at":"2026-07-05T03:29:55Z","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":"f5fa99ce358a18e92f22bf00e94d6fbd18ab0c9193b7606f53ba11b0d012a124","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-07T10:50:18Z","title_canon_sha256":"94a3931ff8001e34fa33d6e333da9c94be6c0b3078d01373be92e0aa9a507748"},"schema_version":"1.0","source":{"id":"2111.04046","kind":"arxiv","version":1}},"canonical_sha256":"0169384df2f756262b673e6aa99f3e8ac54107148fc92847a3deb84e7df6aef7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0169384df2f756262b673e6aa99f3e8ac54107148fc92847a3deb84e7df6aef7","first_computed_at":"2026-07-05T03:29:55.071221Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:29:55.071221Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2KvXbbrHCL6U7WoLedJLaakyvbpwazSuzZC4zxeq6c22P3SLiZW8jO1b7XqMMhhfqwopp9m04Qy34J3qcVSwBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:29:55.071657Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.04046","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5b069c154aaa823c3a14b8c57bf68ebaa113e183adc7ad32a4c3d5ed619bb427","sha256:3aac55b5b6e1426f074844bdd2772f7ffb76754c9abadc0befcf31fcd0b5e7b5"],"state_sha256":"87fc27093e93fcd2f909e68c310596e2f525695e36c3f0ecd69f7a385fa88e53"}