{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:BDE7QOYOZLJURG2HYVTJI37RUY","short_pith_number":"pith:BDE7QOYO","canonical_record":{"source":{"id":"2503.21044","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2025-03-26T23:24:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"0b1aa2073d5227bb87e9e4cb71492812fb5792d8f619e94ec16eb5da8c374307","abstract_canon_sha256":"c26ef102fd0d9ae9a62a36885ba77e2f240eb2c877e7db8e249fd773df66fb98"},"schema_version":"1.0"},"canonical_sha256":"08c9f83b0ecad3489b47c566946ff1a6076bfe8f5fdcf261e0662a024668afdc","source":{"kind":"arxiv","id":"2503.21044","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.21044","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"arxiv_version","alias_value":"2503.21044v1","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.21044","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"pith_short_12","alias_value":"BDE7QOYOZLJU","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"pith_short_16","alias_value":"BDE7QOYOZLJURG2H","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"pith_short_8","alias_value":"BDE7QOYO","created_at":"2026-07-05T10:39:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:BDE7QOYOZLJURG2HYVTJI37RUY","target":"record","payload":{"canonical_record":{"source":{"id":"2503.21044","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2025-03-26T23:24:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"0b1aa2073d5227bb87e9e4cb71492812fb5792d8f619e94ec16eb5da8c374307","abstract_canon_sha256":"c26ef102fd0d9ae9a62a36885ba77e2f240eb2c877e7db8e249fd773df66fb98"},"schema_version":"1.0"},"canonical_sha256":"08c9f83b0ecad3489b47c566946ff1a6076bfe8f5fdcf261e0662a024668afdc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:39:52.261129Z","signature_b64":"/Mg1ct47YlKm9DDoyg1ZmJ+PJSGPhuJ4TLv2w6gegRcAX1e0J0jqqfBTbZ92rk+F42fYpHg19ZjmyUEiJZGRAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"08c9f83b0ecad3489b47c566946ff1a6076bfe8f5fdcf261e0662a024668afdc","last_reissued_at":"2026-07-05T10:39:52.260659Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:39:52.260659Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.21044","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":"2026-07-05T10:39:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n7ABNZUgM2SNV6RNUj0aq7na3lXfsFJbPw0MObC85VQ7TZDbw62AbU5KMSLLTQ6A3WX2C4CTaOmpibV1FHdACw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T01:31:38.642617Z"},"content_sha256":"f42ec13fdf0429124905768a0f9bbf3cb37cc92ac20f59a2dcdd86be13a5e736","schema_version":"1.0","event_id":"sha256:f42ec13fdf0429124905768a0f9bbf3cb37cc92ac20f59a2dcdd86be13a5e736"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:BDE7QOYOZLJURG2HYVTJI37RUY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Exploring Interference between Concurrent Skin Stretches","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.HC","authors_text":"Ching Hei Cheng, Denny Oetomo, Jonathan Eden, Ying Tan","submitted_at":"2025-03-26T23:24:22Z","abstract_excerpt":"Proprioception is essential for coordinating human movements and enhancing the performance of assistive robotic devices. Skin stretch feedback, which closely aligns with natural proprioception mechanisms, presents a promising method for conveying proprioceptive information. To better understand the impact of interference on skin stretch perception, we conducted a user study with 30 participants that evaluated the effect of two simultaneous skin stretches on user perception. We observed that when participants experience simultaneous skin stretch stimuli, a masking effect occurs which deteriorat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.21044","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/2503.21044/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":"2026-07-05T10:39:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"U9wiMupqtzpgeWdvLwEvgq169I6Qcj/EowQNy9SaGwg9tjojS6JZno12tqUd9BL9z/QMNhhfPUJJ57j6nTSrCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T01:31:38.644035Z"},"content_sha256":"09480e8357ff49923299723507478bbcbb25d4bbfe9da8bb92df32fac3d2740d","schema_version":"1.0","event_id":"sha256:09480e8357ff49923299723507478bbcbb25d4bbfe9da8bb92df32fac3d2740d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BDE7QOYOZLJURG2HYVTJI37RUY/bundle.json","state_url":"https://pith.science/pith/BDE7QOYOZLJURG2HYVTJI37RUY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BDE7QOYOZLJURG2HYVTJI37RUY/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":"2026-08-17T01:31:38Z","links":{"resolver":"https://pith.science/pith/BDE7QOYOZLJURG2HYVTJI37RUY","bundle":"https://pith.science/pith/BDE7QOYOZLJURG2HYVTJI37RUY/bundle.json","state":"https://pith.science/pith/BDE7QOYOZLJURG2HYVTJI37RUY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BDE7QOYOZLJURG2HYVTJI37RUY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:BDE7QOYOZLJURG2HYVTJI37RUY","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":"c26ef102fd0d9ae9a62a36885ba77e2f240eb2c877e7db8e249fd773df66fb98","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2025-03-26T23:24:22Z","title_canon_sha256":"0b1aa2073d5227bb87e9e4cb71492812fb5792d8f619e94ec16eb5da8c374307"},"schema_version":"1.0","source":{"id":"2503.21044","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.21044","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"arxiv_version","alias_value":"2503.21044v1","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.21044","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"pith_short_12","alias_value":"BDE7QOYOZLJU","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"pith_short_16","alias_value":"BDE7QOYOZLJURG2H","created_at":"2026-07-05T10:39:52Z"},{"alias_kind":"pith_short_8","alias_value":"BDE7QOYO","created_at":"2026-07-05T10:39:52Z"}],"graph_snapshots":[{"event_id":"sha256:09480e8357ff49923299723507478bbcbb25d4bbfe9da8bb92df32fac3d2740d","target":"graph","created_at":"2026-07-05T10:39:52Z","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/2503.21044/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Proprioception is essential for coordinating human movements and enhancing the performance of assistive robotic devices. Skin stretch feedback, which closely aligns with natural proprioception mechanisms, presents a promising method for conveying proprioceptive information. To better understand the impact of interference on skin stretch perception, we conducted a user study with 30 participants that evaluated the effect of two simultaneous skin stretches on user perception. We observed that when participants experience simultaneous skin stretch stimuli, a masking effect occurs which deteriorat","authors_text":"Ching Hei Cheng, Denny Oetomo, Jonathan Eden, Ying Tan","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2025-03-26T23:24:22Z","title":"Exploring Interference between Concurrent Skin Stretches"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.21044","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:f42ec13fdf0429124905768a0f9bbf3cb37cc92ac20f59a2dcdd86be13a5e736","target":"record","created_at":"2026-07-05T10:39:52Z","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":"c26ef102fd0d9ae9a62a36885ba77e2f240eb2c877e7db8e249fd773df66fb98","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2025-03-26T23:24:22Z","title_canon_sha256":"0b1aa2073d5227bb87e9e4cb71492812fb5792d8f619e94ec16eb5da8c374307"},"schema_version":"1.0","source":{"id":"2503.21044","kind":"arxiv","version":1}},"canonical_sha256":"08c9f83b0ecad3489b47c566946ff1a6076bfe8f5fdcf261e0662a024668afdc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"08c9f83b0ecad3489b47c566946ff1a6076bfe8f5fdcf261e0662a024668afdc","first_computed_at":"2026-07-05T10:39:52.260659Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:39:52.260659Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/Mg1ct47YlKm9DDoyg1ZmJ+PJSGPhuJ4TLv2w6gegRcAX1e0J0jqqfBTbZ92rk+F42fYpHg19ZjmyUEiJZGRAA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:39:52.261129Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.21044","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f42ec13fdf0429124905768a0f9bbf3cb37cc92ac20f59a2dcdd86be13a5e736","sha256:09480e8357ff49923299723507478bbcbb25d4bbfe9da8bb92df32fac3d2740d"],"state_sha256":"4ff1a13c335e3e5d185843591f77a81528e26132029dd1bd63394f665d22becc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cgzg81yqmHBMDSArjfyspDWqQ21INNG48aafGZZSHqZj/HVTaQnua5Ls7w+nY+WKmyBX2HTx9yyJuZcL+R68BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T01:31:38.649832Z","bundle_sha256":"2f7fab7fddd1d32e3043641a23e06b0bcb635a20cfde4c74bc6eae70d29088a6"}}