Pith Number

pith:GD4MRHZE

pith:2022:GD4MRHZEKEY6SNNQNIRP2YRJTE

not attested not anchored not stored refs pending

A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures

Theodora Kastritsi, Zoe Doulgeri

arxiv:2202.10783 v2 · 2022-02-22 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{GD4MRHZEKEY6SNNQNIRP2YRJTE}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T04:01:46.245913Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

30f8c89f245131e935b06a22fd622999216ca179a5c498055a21a2e4e37b1110

Aliases

arxiv: 2202.10783 · arxiv_version: 2202.10783v2 · doi: 10.48550/arxiv.2202.10783 · pith_short_12: GD4MRHZEKEY6 · pith_short_16: GD4MRHZEKEY6SNNQ · pith_short_8: GD4MRHZE

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/GD4MRHZEKEY6SNNQNIRP2YRJTE \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 30f8c89f245131e935b06a22fd622999216ca179a5c498055a21a2e4e37b1110

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "82fc2700d2d4c6dac1f53380a5355cd604451f4bbc56c0afd6bb41e7c3f0fa80",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-02-22T10:14:32Z",
    "title_canon_sha256": "fbe56d87680b3be8a286156e08880efe7906e0eb34395588b02ca658a72d9316"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2202.10783",
    "kind": "arxiv",
    "version": 2
  }
}