{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:F2EJDJABD6KW3BLLBD5BSVY2LK","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":"9fdc805671a284b869284c9ef217f3cf11811f95f3f3059ad6c0ca5bc6ea3531","cross_cats_sorted":["cs.SY","math.DS","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-23T03:16:58Z","title_canon_sha256":"d0ebfb67a19de21c727428ea2d9ce75d6ee3d418e9b8fac9e01005adf0ff9eb6"},"schema_version":"1.0","source":{"id":"1903.09748","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.09748","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"arxiv_version","alias_value":"1903.09748v1","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.09748","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"pith_short_12","alias_value":"F2EJDJABD6KW","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"F2EJDJABD6KW3BLL","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"F2EJDJAB","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:0d5c69371a8b3b6b72dec187fa6426c377edac1fb1f0c84cec52682fc9995046","target":"graph","created_at":"2026-05-17T23:50:35Z","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"},"paper":{"abstract_excerpt":"Purpose: This paper presents an impedance control method with mixed $H_2/H_\\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction.\n  Design/methodology/approach: To shape the system's impedance to match a desired dynamic model, the impedance control problem was reformulated into an impedance matching structure. The desired competing performance requirements as well as constraints from the physical system can be characterized with weighting functions for respective signals. Considering the frequency properties of hum","authors_text":"Ningbo Yu, Wulin Zou","cross_cats":["cs.SY","math.DS","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-23T03:16:58Z","title":"Impedance control of a cable-driven SEA with mixed $H_2/H_\\infty$ synthesis"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09748","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:a8f9868a9fa5397e3a8539e52d5c90cedc18cf713b77dfc782281499bc29e82a","target":"record","created_at":"2026-05-17T23:50:35Z","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":"9fdc805671a284b869284c9ef217f3cf11811f95f3f3059ad6c0ca5bc6ea3531","cross_cats_sorted":["cs.SY","math.DS","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-23T03:16:58Z","title_canon_sha256":"d0ebfb67a19de21c727428ea2d9ce75d6ee3d418e9b8fac9e01005adf0ff9eb6"},"schema_version":"1.0","source":{"id":"1903.09748","kind":"arxiv","version":1}},"canonical_sha256":"2e8891a4011f956d856b08fa19571a5a83fc85b90988048e404c57ea9f8e9e43","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2e8891a4011f956d856b08fa19571a5a83fc85b90988048e404c57ea9f8e9e43","first_computed_at":"2026-05-17T23:50:35.619075Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:50:35.619075Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DnNH23I0uorpW3+SoI2cL3f5h5hS8cv9hc7uwGDgavZAk0V2iw6h3x8vW++/Kh+rvtVbOO2in9EKobRM551GDw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:50:35.619799Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.09748","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a8f9868a9fa5397e3a8539e52d5c90cedc18cf713b77dfc782281499bc29e82a","sha256:0d5c69371a8b3b6b72dec187fa6426c377edac1fb1f0c84cec52682fc9995046"],"state_sha256":"8596f4b4cd17b889af560957eb53f1cc9d3fe9cac6ed121014eebd284320f539"}