{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:DPT4YIKHFAW4DWCNUK6EAQ4QCU","short_pith_number":"pith:DPT4YIKH","schema_version":"1.0","canonical_sha256":"1be7cc2147282dc1d84da2bc4043901539699a44e793397cf0b5a29a48715c40","source":{"kind":"arxiv","id":"2409.08889","version":4},"attestation_state":"computed","paper":{"title":"Extending the Benefits of Parallel Elasticity across Multiple Actuation Tasks: A Geometric and Optimization-Based Approach","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edgar Bol\\'ivar-Nieto, James Schmiedeler, Kang Yang, Myia Dickens","submitted_at":"2024-09-13T14:55:20Z","abstract_excerpt":"A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting the spring stiffness and preload that guarantees effort or energy reduction for an arbitrary set of tasks is a design challenge. This work formulates a convex optimization problem to guarantee that a parallel spring reduces the root-mean-square source effort or energy consumption for multiple tasks. Specifically, we guarantee the benefits across multiple ta"},"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":"2409.08889","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-13T14:55:20Z","cross_cats_sorted":[],"title_canon_sha256":"5f1431aacea82e3cbbc7c91738b3152328468ca077c6837c6591f7c9c635a64b","abstract_canon_sha256":"eef9f9f60f4a233955e5d8bc27a012bae678092e55d8a5b0706b7791f090d61a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:36:54.742611Z","signature_b64":"DdBcqwYmtjx0+b7cZLwBOHwYpaQK2HHVlxJvThXwfFtp362fnL7a2QoyDX2bVJctwSoMS8gQp/ffd1ganATzDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1be7cc2147282dc1d84da2bc4043901539699a44e793397cf0b5a29a48715c40","last_reissued_at":"2026-07-05T11:36:54.742070Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:36:54.742070Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Extending the Benefits of Parallel Elasticity across Multiple Actuation Tasks: A Geometric and Optimization-Based Approach","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edgar Bol\\'ivar-Nieto, James Schmiedeler, Kang Yang, Myia Dickens","submitted_at":"2024-09-13T14:55:20Z","abstract_excerpt":"A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting the spring stiffness and preload that guarantees effort or energy reduction for an arbitrary set of tasks is a design challenge. This work formulates a convex optimization problem to guarantee that a parallel spring reduces the root-mean-square source effort or energy consumption for multiple tasks. Specifically, we guarantee the benefits across multiple ta"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.08889","kind":"arxiv","version":4},"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/2409.08889/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":"2409.08889","created_at":"2026-07-05T11:36:54.742129+00:00"},{"alias_kind":"arxiv_version","alias_value":"2409.08889v4","created_at":"2026-07-05T11:36:54.742129+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.08889","created_at":"2026-07-05T11:36:54.742129+00:00"},{"alias_kind":"pith_short_12","alias_value":"DPT4YIKHFAW4","created_at":"2026-07-05T11:36:54.742129+00:00"},{"alias_kind":"pith_short_16","alias_value":"DPT4YIKHFAW4DWCN","created_at":"2026-07-05T11:36:54.742129+00:00"},{"alias_kind":"pith_short_8","alias_value":"DPT4YIKH","created_at":"2026-07-05T11:36:54.742129+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/DPT4YIKHFAW4DWCNUK6EAQ4QCU","json":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU.json","graph_json":"https://pith.science/api/pith-number/DPT4YIKHFAW4DWCNUK6EAQ4QCU/graph.json","events_json":"https://pith.science/api/pith-number/DPT4YIKHFAW4DWCNUK6EAQ4QCU/events.json","paper":"https://pith.science/paper/DPT4YIKH"},"agent_actions":{"view_html":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU","download_json":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU.json","view_paper":"https://pith.science/paper/DPT4YIKH","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2409.08889&json=true","fetch_graph":"https://pith.science/api/pith-number/DPT4YIKHFAW4DWCNUK6EAQ4QCU/graph.json","fetch_events":"https://pith.science/api/pith-number/DPT4YIKHFAW4DWCNUK6EAQ4QCU/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU/action/timestamp_anchor","attest_storage":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU/action/storage_attestation","attest_author":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU/action/author_attestation","sign_citation":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU/action/citation_signature","submit_replication":"https://pith.science/pith/DPT4YIKHFAW4DWCNUK6EAQ4QCU/action/replication_record"}},"created_at":"2026-07-05T11:36:54.742129+00:00","updated_at":"2026-07-05T11:36:54.742129+00:00"}