{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:GV6EYOGODLW7PKTPKBKYKHHEYK","short_pith_number":"pith:GV6EYOGO","schema_version":"1.0","canonical_sha256":"357c4c38ce1aedf7aa6f5055851ce4c2bf29e2fe1086ef732335bc4b5f77284a","source":{"kind":"arxiv","id":"2411.03873","version":2},"attestation_state":"computed","paper":{"title":"Biomechanics-Aware Trajectory Optimization for Online Navigation during Robotic Physiotherapy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ajay Seth, Florian van Melis, Italo Belli, J. Micah Prendergast, Luka Peternel","submitted_at":"2024-11-06T12:40:59Z","abstract_excerpt":"Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomechanical metrics essential for safe and effective therapy. We introduce BATON, a Biomechanics-Aware Trajectory Optimization approach to online robotic Navigation of human musculoskeletal loads for rotator cuff rehabilitation. BATON embeds a high-fidelity OpenSim model of the human shoulder into an optimal control framework, generating strain-minimizing trajectories for real-time control of therapeutic movements. \\adde"},"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":"2411.03873","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-06T12:40:59Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"46ac44e11b4dfe80f5cdccda6031ba44558739f9fd47dfa55fd66f940d0208da","abstract_canon_sha256":"5f973c11d2a6277381ba01d8286b25f07c4f72831fd57183de9a7cbdbccb52e5"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:35:30.677065Z","signature_b64":"Mwwc8YAqB0Zt/JMD0thlW2fMTws87+/aRQDiCJZCSY7N+4FwNiF5Mmc5zNklRUp5pq3PAnLqdYdFwFddMk8sCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"357c4c38ce1aedf7aa6f5055851ce4c2bf29e2fe1086ef732335bc4b5f77284a","last_reissued_at":"2026-07-05T11:35:30.676486Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:35:30.676486Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Biomechanics-Aware Trajectory Optimization for Online Navigation during Robotic Physiotherapy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ajay Seth, Florian van Melis, Italo Belli, J. Micah Prendergast, Luka Peternel","submitted_at":"2024-11-06T12:40:59Z","abstract_excerpt":"Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomechanical metrics essential for safe and effective therapy. We introduce BATON, a Biomechanics-Aware Trajectory Optimization approach to online robotic Navigation of human musculoskeletal loads for rotator cuff rehabilitation. BATON embeds a high-fidelity OpenSim model of the human shoulder into an optimal control framework, generating strain-minimizing trajectories for real-time control of therapeutic movements. \\adde"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.03873","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/2411.03873/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":"2411.03873","created_at":"2026-07-05T11:35:30.676546+00:00"},{"alias_kind":"arxiv_version","alias_value":"2411.03873v2","created_at":"2026-07-05T11:35:30.676546+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.03873","created_at":"2026-07-05T11:35:30.676546+00:00"},{"alias_kind":"pith_short_12","alias_value":"GV6EYOGODLW7","created_at":"2026-07-05T11:35:30.676546+00:00"},{"alias_kind":"pith_short_16","alias_value":"GV6EYOGODLW7PKTP","created_at":"2026-07-05T11:35:30.676546+00:00"},{"alias_kind":"pith_short_8","alias_value":"GV6EYOGO","created_at":"2026-07-05T11:35:30.676546+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/GV6EYOGODLW7PKTPKBKYKHHEYK","json":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK.json","graph_json":"https://pith.science/api/pith-number/GV6EYOGODLW7PKTPKBKYKHHEYK/graph.json","events_json":"https://pith.science/api/pith-number/GV6EYOGODLW7PKTPKBKYKHHEYK/events.json","paper":"https://pith.science/paper/GV6EYOGO"},"agent_actions":{"view_html":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK","download_json":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK.json","view_paper":"https://pith.science/paper/GV6EYOGO","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2411.03873&json=true","fetch_graph":"https://pith.science/api/pith-number/GV6EYOGODLW7PKTPKBKYKHHEYK/graph.json","fetch_events":"https://pith.science/api/pith-number/GV6EYOGODLW7PKTPKBKYKHHEYK/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK/action/timestamp_anchor","attest_storage":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK/action/storage_attestation","attest_author":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK/action/author_attestation","sign_citation":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK/action/citation_signature","submit_replication":"https://pith.science/pith/GV6EYOGODLW7PKTPKBKYKHHEYK/action/replication_record"}},"created_at":"2026-07-05T11:35:30.676546+00:00","updated_at":"2026-07-05T11:35:30.676546+00:00"}