{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:BW7NQE4ERVQUTY2537MJSGJFSW","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":"b19c97199425574108e2f47bd0135ccdd250e147020c6f7dff61ac5ff178ddc2","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-20T15:02:25Z","title_canon_sha256":"3a7461ee9d9e51f6d4eb9c3d3b0a6322ac577922b4d42507d9ef85fe2b01510f"},"schema_version":"1.0","source":{"id":"2105.09807","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.09807","created_at":"2026-07-05T05:34:13Z"},{"alias_kind":"arxiv_version","alias_value":"2105.09807v4","created_at":"2026-07-05T05:34:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.09807","created_at":"2026-07-05T05:34:13Z"},{"alias_kind":"pith_short_12","alias_value":"BW7NQE4ERVQU","created_at":"2026-07-05T05:34:13Z"},{"alias_kind":"pith_short_16","alias_value":"BW7NQE4ERVQUTY25","created_at":"2026-07-05T05:34:13Z"},{"alias_kind":"pith_short_8","alias_value":"BW7NQE4E","created_at":"2026-07-05T05:34:13Z"}],"graph_snapshots":[{"event_id":"sha256:2763048fd4df36e6871bf625a3037a90497988a8ef189e7b254eabd9b2a383d9","target":"graph","created_at":"2026-07-05T05:34:13Z","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/2105.09807/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically coupled to a mobile manipulator to be assisted in performing daily activities. The previous interface was based on a magnetic clamp attached to one arm of the user for the coupling stage, and a bracelet based on EMG sensors on the other arm for human-robot communication via gestures. The new interface instead presents the following additions: i) An industri","authors_text":"Arash Ajoudani (Human-Robot Interfaces, Edoardo Lamon, Genoa, Istituto Italiano di Tecnologia, Italy), Juan M. Gandarias, Marta Lorenzini, physical Interaction, Pietro Balatti","cross_cats":["cs.HC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-20T15:02:25Z","title":"Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.09807","kind":"arxiv","version":4},"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":"sha256:6dad3d61e27d7f3325730f6306b15c01badca3f34914db157f47629fcef6f50d","target":"record","created_at":"2026-07-05T05:34:13Z","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":"b19c97199425574108e2f47bd0135ccdd250e147020c6f7dff61ac5ff178ddc2","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-20T15:02:25Z","title_canon_sha256":"3a7461ee9d9e51f6d4eb9c3d3b0a6322ac577922b4d42507d9ef85fe2b01510f"},"schema_version":"1.0","source":{"id":"2105.09807","kind":"arxiv","version":4}},"canonical_sha256":"0dbed813848d6149e35ddfd899192595be80709367b795368a3dffed9e1d2cc7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0dbed813848d6149e35ddfd899192595be80709367b795368a3dffed9e1d2cc7","first_computed_at":"2026-07-05T05:34:13.279566Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:34:13.279566Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oEJ1W/YxH+dResyu2zSIF93Z/h+GEfb/Jy4ZhYMh8ywnsTT7Ij4r9N+NF+9cnSWvQgG+Piogd61o7IL2B4FhBw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:34:13.279969Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.09807","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6dad3d61e27d7f3325730f6306b15c01badca3f34914db157f47629fcef6f50d","sha256:2763048fd4df36e6871bf625a3037a90497988a8ef189e7b254eabd9b2a383d9"],"state_sha256":"a07244617b6457e3a58729e62fa952cc106ecdc4d675ad9302f8bced382515a0"}