{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:GRARB2KBGVLAQSKIWZWICPGOFO","short_pith_number":"pith:GRARB2KB","schema_version":"1.0","canonical_sha256":"344110e9413556084948b66c813cce2b8c3fbbd4727d17d8cec336ff6dfe05be","source":{"kind":"arxiv","id":"2401.16463","version":2},"attestation_state":"computed","paper":{"title":"Print-N-Grip: A Disposable, Compliant, Scalable and One-Shot 3D-Printed Multi-Fingered Robotic Hand","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alon Laron, Avishai Sintov, Eran Sne, Yaron Perets","submitted_at":"2024-01-29T15:32:20Z","abstract_excerpt":"Robotic hands are an important tool for replacing humans in handling toxic or radioactive materials. However, these are usually highly expensive, and in many cases, once they are contaminated, they cannot be re-used. Some solutions cope with this challenge by 3D printing parts of a tendon-based hand. However, fabrication requires additional assembly steps. Therefore, a novice user may have difficulties fabricating a hand upon contamination of the previous one. We propose the Print-N-Grip (PNG) hand which is a tendon-based underactuated mechanism able to adapt to the shape of objects. The hand "},"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":"2401.16463","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-01-29T15:32:20Z","cross_cats_sorted":[],"title_canon_sha256":"2631d1874a7acdfa6e783abb60f6b308c4ac2f2e61f043c8fa874258304a528e","abstract_canon_sha256":"9aabc4a6ae05f6933a929b240e363225c5c9467933bf94a838114ac15b1fa922"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:20:52.611187Z","signature_b64":"GOhRhJKzFAQQGHMcfojkqVMq24ILrQC03vnDweY0MRSlKetdlokyZQCnOaJZz5WAmldIvGDGvQSzFZnk4CRRCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"344110e9413556084948b66c813cce2b8c3fbbd4727d17d8cec336ff6dfe05be","last_reissued_at":"2026-07-05T08:20:52.610700Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:20:52.610700Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Print-N-Grip: A Disposable, Compliant, Scalable and One-Shot 3D-Printed Multi-Fingered Robotic Hand","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alon Laron, Avishai Sintov, Eran Sne, Yaron Perets","submitted_at":"2024-01-29T15:32:20Z","abstract_excerpt":"Robotic hands are an important tool for replacing humans in handling toxic or radioactive materials. However, these are usually highly expensive, and in many cases, once they are contaminated, they cannot be re-used. Some solutions cope with this challenge by 3D printing parts of a tendon-based hand. However, fabrication requires additional assembly steps. Therefore, a novice user may have difficulties fabricating a hand upon contamination of the previous one. We propose the Print-N-Grip (PNG) hand which is a tendon-based underactuated mechanism able to adapt to the shape of objects. The hand "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.16463","kind":"arxiv","version":2},"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/2401.16463/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":"2401.16463","created_at":"2026-07-05T08:20:52.610760+00:00"},{"alias_kind":"arxiv_version","alias_value":"2401.16463v2","created_at":"2026-07-05T08:20:52.610760+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.16463","created_at":"2026-07-05T08:20:52.610760+00:00"},{"alias_kind":"pith_short_12","alias_value":"GRARB2KBGVLA","created_at":"2026-07-05T08:20:52.610760+00:00"},{"alias_kind":"pith_short_16","alias_value":"GRARB2KBGVLAQSKI","created_at":"2026-07-05T08:20:52.610760+00:00"},{"alias_kind":"pith_short_8","alias_value":"GRARB2KB","created_at":"2026-07-05T08:20:52.610760+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2509.04441","citing_title":"DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation","ref_index":31,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO","json":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO.json","graph_json":"https://pith.science/api/pith-number/GRARB2KBGVLAQSKIWZWICPGOFO/graph.json","events_json":"https://pith.science/api/pith-number/GRARB2KBGVLAQSKIWZWICPGOFO/events.json","paper":"https://pith.science/paper/GRARB2KB"},"agent_actions":{"view_html":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO","download_json":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO.json","view_paper":"https://pith.science/paper/GRARB2KB","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2401.16463&json=true","fetch_graph":"https://pith.science/api/pith-number/GRARB2KBGVLAQSKIWZWICPGOFO/graph.json","fetch_events":"https://pith.science/api/pith-number/GRARB2KBGVLAQSKIWZWICPGOFO/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO/action/timestamp_anchor","attest_storage":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO/action/storage_attestation","attest_author":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO/action/author_attestation","sign_citation":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO/action/citation_signature","submit_replication":"https://pith.science/pith/GRARB2KBGVLAQSKIWZWICPGOFO/action/replication_record"}},"created_at":"2026-07-05T08:20:52.610760+00:00","updated_at":"2026-07-05T08:20:52.610760+00:00"}