{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:HHPKA5MLPBLOL5IDIMY6FVQ6YE","short_pith_number":"pith:HHPKA5ML","canonical_record":{"source":{"id":"2104.03893","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-08T17:01:19Z","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","eess.SP"],"title_canon_sha256":"94af7bfff38ebc437c91be7493f8491f2a0f7fc06570992db2833de8ace80cfc","abstract_canon_sha256":"318d52145c6c01200c4bd364028881dfcfcc8659d727cede50ca8abf3c3f0a54"},"schema_version":"1.0"},"canonical_sha256":"39dea0758b7856e5f5034331e2d61ec12bfc69149fbb9bf29c57c5832128e092","source":{"kind":"arxiv","id":"2104.03893","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.03893","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"arxiv_version","alias_value":"2104.03893v5","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.03893","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"pith_short_12","alias_value":"HHPKA5MLPBLO","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"pith_short_16","alias_value":"HHPKA5MLPBLOL5ID","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"pith_short_8","alias_value":"HHPKA5ML","created_at":"2026-07-05T07:49:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:HHPKA5MLPBLOL5IDIMY6FVQ6YE","target":"record","payload":{"canonical_record":{"source":{"id":"2104.03893","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-08T17:01:19Z","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","eess.SP"],"title_canon_sha256":"94af7bfff38ebc437c91be7493f8491f2a0f7fc06570992db2833de8ace80cfc","abstract_canon_sha256":"318d52145c6c01200c4bd364028881dfcfcc8659d727cede50ca8abf3c3f0a54"},"schema_version":"1.0"},"canonical_sha256":"39dea0758b7856e5f5034331e2d61ec12bfc69149fbb9bf29c57c5832128e092","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:49:57.702743Z","signature_b64":"ePin4Dv7Mk7k1gMBpvUgJ8vk4YWp3H4C5yAhMSyLiRYhnWwJ8RVnTqkcuBuBiHbQuqisLnWejJzwMA+q2YFGAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"39dea0758b7856e5f5034331e2d61ec12bfc69149fbb9bf29c57c5832128e092","last_reissued_at":"2026-07-05T07:49:57.702236Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:49:57.702236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2104.03893","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:49:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wHWBr44iQKUdC6dHBadGFOj9XQIn3HcfhY5IERA+UABkdRiNvIOc1y9xV+wXS3TqmMsai34m6jBOo8oLrfFkAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T21:38:32.630750Z"},"content_sha256":"e0ba10b743d169ffe221810f12fb4070a0f34ae7dd1e01ed161d4dc08583fe1b","schema_version":"1.0","event_id":"sha256:e0ba10b743d169ffe221810f12fb4070a0f34ae7dd1e01ed161d4dc08583fe1b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:HHPKA5MLPBLOL5IDIMY6FVQ6YE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multimodal Fusion of EMG and Vision for Human Grasp Intent Inference in Prosthetic Hand Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.HC","eess.SP"],"primary_cat":"cs.RO","authors_text":"Cagdas Onal, Deniz Erdogmus, Gunar Schirner, Mariusz P. Furmanek, Mathew Yarossi, Mehrshad Zandigohar, Mohammadreza Sharif, Mo Han, Paolo Bonato, Sezen Yagmur Gunay, Taskin Padir","submitted_at":"2021-04-08T17:01:19Z","abstract_excerpt":"Objective: For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. Current control methods based on physiological signals such as electromyography (EMG) are prone to yielding poor inference outcomes due to motion artifacts, muscle fatigue, and many more. Vision sensors are a major source of information about the environment state and can play a vital role in inferring feasible and intended gestures. However, visual evidence is also susceptible to its own artifacts, most often due to object occlusion, lighting changes, etc. Multimo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.03893","kind":"arxiv","version":5},"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/2104.03893/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:49:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Dn9gWOiEf204zhW7Xu+Oc0a1279JeGTA7jkmB0Iom+fjh1h/dnY1WlnDOMckbkoAi58aBoZAkgt27s/DewEHBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T21:38:32.631270Z"},"content_sha256":"ba0f177133ee1390ab338169f932a846dac7a47a4783cac10ad76f2c118e8abd","schema_version":"1.0","event_id":"sha256:ba0f177133ee1390ab338169f932a846dac7a47a4783cac10ad76f2c118e8abd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HHPKA5MLPBLOL5IDIMY6FVQ6YE/bundle.json","state_url":"https://pith.science/pith/HHPKA5MLPBLOL5IDIMY6FVQ6YE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HHPKA5MLPBLOL5IDIMY6FVQ6YE/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-10T21:38:32Z","links":{"resolver":"https://pith.science/pith/HHPKA5MLPBLOL5IDIMY6FVQ6YE","bundle":"https://pith.science/pith/HHPKA5MLPBLOL5IDIMY6FVQ6YE/bundle.json","state":"https://pith.science/pith/HHPKA5MLPBLOL5IDIMY6FVQ6YE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HHPKA5MLPBLOL5IDIMY6FVQ6YE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:HHPKA5MLPBLOL5IDIMY6FVQ6YE","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":"318d52145c6c01200c4bd364028881dfcfcc8659d727cede50ca8abf3c3f0a54","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-08T17:01:19Z","title_canon_sha256":"94af7bfff38ebc437c91be7493f8491f2a0f7fc06570992db2833de8ace80cfc"},"schema_version":"1.0","source":{"id":"2104.03893","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.03893","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"arxiv_version","alias_value":"2104.03893v5","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.03893","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"pith_short_12","alias_value":"HHPKA5MLPBLO","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"pith_short_16","alias_value":"HHPKA5MLPBLOL5ID","created_at":"2026-07-05T07:49:57Z"},{"alias_kind":"pith_short_8","alias_value":"HHPKA5ML","created_at":"2026-07-05T07:49:57Z"}],"graph_snapshots":[{"event_id":"sha256:ba0f177133ee1390ab338169f932a846dac7a47a4783cac10ad76f2c118e8abd","target":"graph","created_at":"2026-07-05T07:49:57Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2104.03893/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Objective: For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. Current control methods based on physiological signals such as electromyography (EMG) are prone to yielding poor inference outcomes due to motion artifacts, muscle fatigue, and many more. Vision sensors are a major source of information about the environment state and can play a vital role in inferring feasible and intended gestures. However, visual evidence is also susceptible to its own artifacts, most often due to object occlusion, lighting changes, etc. Multimo","authors_text":"Cagdas Onal, Deniz Erdogmus, Gunar Schirner, Mariusz P. Furmanek, Mathew Yarossi, Mehrshad Zandigohar, Mohammadreza Sharif, Mo Han, Paolo Bonato, Sezen Yagmur Gunay, Taskin Padir","cross_cats":["cs.AI","cs.CV","cs.HC","eess.SP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-08T17:01:19Z","title":"Multimodal Fusion of EMG and Vision for Human Grasp Intent Inference in Prosthetic Hand Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.03893","kind":"arxiv","version":5},"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:e0ba10b743d169ffe221810f12fb4070a0f34ae7dd1e01ed161d4dc08583fe1b","target":"record","created_at":"2026-07-05T07:49:57Z","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":"318d52145c6c01200c4bd364028881dfcfcc8659d727cede50ca8abf3c3f0a54","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-08T17:01:19Z","title_canon_sha256":"94af7bfff38ebc437c91be7493f8491f2a0f7fc06570992db2833de8ace80cfc"},"schema_version":"1.0","source":{"id":"2104.03893","kind":"arxiv","version":5}},"canonical_sha256":"39dea0758b7856e5f5034331e2d61ec12bfc69149fbb9bf29c57c5832128e092","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"39dea0758b7856e5f5034331e2d61ec12bfc69149fbb9bf29c57c5832128e092","first_computed_at":"2026-07-05T07:49:57.702236Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:49:57.702236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ePin4Dv7Mk7k1gMBpvUgJ8vk4YWp3H4C5yAhMSyLiRYhnWwJ8RVnTqkcuBuBiHbQuqisLnWejJzwMA+q2YFGAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:49:57.702743Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.03893","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e0ba10b743d169ffe221810f12fb4070a0f34ae7dd1e01ed161d4dc08583fe1b","sha256:ba0f177133ee1390ab338169f932a846dac7a47a4783cac10ad76f2c118e8abd"],"state_sha256":"a9b1e918f0050d0809490719cfb4c13a11069b1dc3381b6aab1e0c6f1a59079e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ImJY7KOD4w5Y3Bzl7MUCUOe/vU7kFL/38fLPMR3s50BKQoKcuIYoEap8JFMXF2D70lTX30Ji0BlWFmfWKM9JCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T21:38:32.635210Z","bundle_sha256":"73c157461ee848c3ab579471d80ab43f424debe4c4f40c8abaa9496c568e32ae"}}