{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:B6ESK5JNGBSJRQAJ3NWGCX477D","short_pith_number":"pith:B6ESK5JN","schema_version":"1.0","canonical_sha256":"0f8925752d306498c009db6c615f9ff8c1ae62de34b9eb90a9892bd43099c431","source":{"kind":"arxiv","id":"1809.03826","version":1},"attestation_state":"computed","paper":{"title":"Real-time force control of an SEA-based body weight support unit with the 2-DOF control structure","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Jianmin Li, Ningbo Yu, Wulin Zou, Yubo Sun, Yuqi Lei","submitted_at":"2018-09-11T12:48:49Z","abstract_excerpt":"Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with new initiatives and has attracted deep research effort in recent years. We have built up a novel gravity offloading system, in which the patient is allowed to move freely in the three-dimensional Cartesian space and receives support against gravity. Thus, the patients, especially for those that suffer from neurological injury such as stroke or spinal cord injury, can focus their residual motor control capabilities on"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1809.03826","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-09-11T12:48:49Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"5b19e0f86c188f17028868ecbb66f6db2a01eb661418ec565e3e9216e08febee","abstract_canon_sha256":"2f931ad65d32a01049f6b6eb28b4ede3eb13a45fe0128a8b53116acd065a4916"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:58.038246Z","signature_b64":"XOtlZC7B8Oj4s5Q5oAFPNS4mUN7BODtTevalJnvqJ7XWYHTY4WIhmxg3iihUw10+8FVBXtAFO9H5ybqHMNDkBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0f8925752d306498c009db6c615f9ff8c1ae62de34b9eb90a9892bd43099c431","last_reissued_at":"2026-05-18T00:05:58.037760Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:58.037760Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Real-time force control of an SEA-based body weight support unit with the 2-DOF control structure","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Jianmin Li, Ningbo Yu, Wulin Zou, Yubo Sun, Yuqi Lei","submitted_at":"2018-09-11T12:48:49Z","abstract_excerpt":"Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with new initiatives and has attracted deep research effort in recent years. We have built up a novel gravity offloading system, in which the patient is allowed to move freely in the three-dimensional Cartesian space and receives support against gravity. Thus, the patients, especially for those that suffer from neurological injury such as stroke or spinal cord injury, can focus their residual motor control capabilities on"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.03826","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1809.03826","created_at":"2026-05-18T00:05:58.037831+00:00"},{"alias_kind":"arxiv_version","alias_value":"1809.03826v1","created_at":"2026-05-18T00:05:58.037831+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.03826","created_at":"2026-05-18T00:05:58.037831+00:00"},{"alias_kind":"pith_short_12","alias_value":"B6ESK5JNGBSJ","created_at":"2026-05-18T12:32:13.499390+00:00"},{"alias_kind":"pith_short_16","alias_value":"B6ESK5JNGBSJRQAJ","created_at":"2026-05-18T12:32:13.499390+00:00"},{"alias_kind":"pith_short_8","alias_value":"B6ESK5JN","created_at":"2026-05-18T12:32:13.499390+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D","json":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D.json","graph_json":"https://pith.science/api/pith-number/B6ESK5JNGBSJRQAJ3NWGCX477D/graph.json","events_json":"https://pith.science/api/pith-number/B6ESK5JNGBSJRQAJ3NWGCX477D/events.json","paper":"https://pith.science/paper/B6ESK5JN"},"agent_actions":{"view_html":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D","download_json":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D.json","view_paper":"https://pith.science/paper/B6ESK5JN","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1809.03826&json=true","fetch_graph":"https://pith.science/api/pith-number/B6ESK5JNGBSJRQAJ3NWGCX477D/graph.json","fetch_events":"https://pith.science/api/pith-number/B6ESK5JNGBSJRQAJ3NWGCX477D/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D/action/timestamp_anchor","attest_storage":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D/action/storage_attestation","attest_author":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D/action/author_attestation","sign_citation":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D/action/citation_signature","submit_replication":"https://pith.science/pith/B6ESK5JNGBSJRQAJ3NWGCX477D/action/replication_record"}},"created_at":"2026-05-18T00:05:58.037831+00:00","updated_at":"2026-05-18T00:05:58.037831+00:00"}