{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:CSMHRZZ23AWFKOSLMPMJ3QTQPM","short_pith_number":"pith:CSMHRZZ2","schema_version":"1.0","canonical_sha256":"149878e73ad82c553a4b63d89dc2707b1b66b9bbdc1cde0f95b0bec54d11c9c0","source":{"kind":"arxiv","id":"2012.04844","version":1},"attestation_state":"computed","paper":{"title":"Toward an Affective Touch Robot: Subjective and Physiological Evaluation of Gentle Stroke Motion Using a Human-Imitation Hand","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akishige Yuguchi, Jun Takamatsu, Ming Ding, Sakiko Yoshikawa, Sung-Gwi Cho, Tomoki Ishikura, Tsukasa Ogasawara, Wataru Sato, Yuki Kitamura","submitted_at":"2020-12-09T03:24:38Z","abstract_excerpt":"Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work. In this research, we focused on the gentle stroking motion of a robot to evoke the same emotions that human touch would evoke: in other words, an affective touch robot. We propose a robot that is able to gently stroke the back of a human using our designed human-imitation hand. To evaluate the emotional effects of this affective touch, we compared the resul"},"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":"2012.04844","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-12-09T03:24:38Z","cross_cats_sorted":[],"title_canon_sha256":"1b270bfe68fd1db8165d4d9afa0136e3d9faf2141863af207c0148173126b701","abstract_canon_sha256":"533f42951a6b4ef833a7cd21a4e6bb2f2450a4d9101ea9423f87d118cb6e017a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:58:15.870698Z","signature_b64":"hQ9Yq7aamdqd7dXQjR2O8Tpt1T1Q2HN9DcsQdj7MZL4oMmmueI3h+81FBeNQI/gz/DvckHxDcQ2BQ8QzkdorCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"149878e73ad82c553a4b63d89dc2707b1b66b9bbdc1cde0f95b0bec54d11c9c0","last_reissued_at":"2026-07-05T01:58:15.870280Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:58:15.870280Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Toward an Affective Touch Robot: Subjective and Physiological Evaluation of Gentle Stroke Motion Using a Human-Imitation Hand","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Akishige Yuguchi, Jun Takamatsu, Ming Ding, Sakiko Yoshikawa, Sung-Gwi Cho, Tomoki Ishikura, Tsukasa Ogasawara, Wataru Sato, Yuki Kitamura","submitted_at":"2020-12-09T03:24:38Z","abstract_excerpt":"Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work. In this research, we focused on the gentle stroking motion of a robot to evoke the same emotions that human touch would evoke: in other words, an affective touch robot. We propose a robot that is able to gently stroke the back of a human using our designed human-imitation hand. To evaluate the emotional effects of this affective touch, we compared the resul"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2012.04844","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/2012.04844/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2012.04844","created_at":"2026-07-05T01:58:15.870341+00:00"},{"alias_kind":"arxiv_version","alias_value":"2012.04844v1","created_at":"2026-07-05T01:58:15.870341+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2012.04844","created_at":"2026-07-05T01:58:15.870341+00:00"},{"alias_kind":"pith_short_12","alias_value":"CSMHRZZ23AWF","created_at":"2026-07-05T01:58:15.870341+00:00"},{"alias_kind":"pith_short_16","alias_value":"CSMHRZZ23AWFKOSL","created_at":"2026-07-05T01:58:15.870341+00:00"},{"alias_kind":"pith_short_8","alias_value":"CSMHRZZ2","created_at":"2026-07-05T01:58:15.870341+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/CSMHRZZ23AWFKOSLMPMJ3QTQPM","json":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM.json","graph_json":"https://pith.science/api/pith-number/CSMHRZZ23AWFKOSLMPMJ3QTQPM/graph.json","events_json":"https://pith.science/api/pith-number/CSMHRZZ23AWFKOSLMPMJ3QTQPM/events.json","paper":"https://pith.science/paper/CSMHRZZ2"},"agent_actions":{"view_html":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM","download_json":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM.json","view_paper":"https://pith.science/paper/CSMHRZZ2","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2012.04844&json=true","fetch_graph":"https://pith.science/api/pith-number/CSMHRZZ23AWFKOSLMPMJ3QTQPM/graph.json","fetch_events":"https://pith.science/api/pith-number/CSMHRZZ23AWFKOSLMPMJ3QTQPM/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM/action/timestamp_anchor","attest_storage":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM/action/storage_attestation","attest_author":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM/action/author_attestation","sign_citation":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM/action/citation_signature","submit_replication":"https://pith.science/pith/CSMHRZZ23AWFKOSLMPMJ3QTQPM/action/replication_record"}},"created_at":"2026-07-05T01:58:15.870341+00:00","updated_at":"2026-07-05T01:58:15.870341+00:00"}