{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:HJFZDSAPDLQKHX4ZGA2KRKIJJX","short_pith_number":"pith:HJFZDSAP","canonical_record":{"source":{"id":"2410.05789","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-08T08:17:49Z","cross_cats_sorted":[],"title_canon_sha256":"9777b72398f750413e88433453c39ea9e30dedab312efea8ade6227478c09168","abstract_canon_sha256":"c10fb48c7b2d3408eacec033db81ed1ba929029a0f04279030e4358983424a26"},"schema_version":"1.0"},"canonical_sha256":"3a4b91c80f1ae0a3df993034a8a9094dcb9ddc0158f94a2e4efd322025b0e004","source":{"kind":"arxiv","id":"2410.05789","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.05789","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"arxiv_version","alias_value":"2410.05789v2","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.05789","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"pith_short_12","alias_value":"HJFZDSAPDLQK","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"pith_short_16","alias_value":"HJFZDSAPDLQKHX4Z","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"pith_short_8","alias_value":"HJFZDSAP","created_at":"2026-07-05T09:18:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:HJFZDSAPDLQKHX4ZGA2KRKIJJX","target":"record","payload":{"canonical_record":{"source":{"id":"2410.05789","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-08T08:17:49Z","cross_cats_sorted":[],"title_canon_sha256":"9777b72398f750413e88433453c39ea9e30dedab312efea8ade6227478c09168","abstract_canon_sha256":"c10fb48c7b2d3408eacec033db81ed1ba929029a0f04279030e4358983424a26"},"schema_version":"1.0"},"canonical_sha256":"3a4b91c80f1ae0a3df993034a8a9094dcb9ddc0158f94a2e4efd322025b0e004","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:18:31.458361Z","signature_b64":"IA4VOVyiVYKJAAa0ty4WAjCngN6svon0CBAM1TkEXwhqOuRggM5vfVOEBNq9H/6vv2J3+AGrnOneeZJoSXGACw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3a4b91c80f1ae0a3df993034a8a9094dcb9ddc0158f94a2e4efd322025b0e004","last_reissued_at":"2026-07-05T09:18:31.457892Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:18:31.457892Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.05789","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:18:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iYrRkggeKiUTDkkfe8E6QL20rSqNEL14camnD5zUfnilTcqoKol6ZpGsn4WSxQNZW8fAaJ3j01dZniYOgxyDBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T02:03:24.015171Z"},"content_sha256":"52fb823623bc8225a5f4046ddc604dacecc359110c49003390d8aa4a97246e00","schema_version":"1.0","event_id":"sha256:52fb823623bc8225a5f4046ddc604dacecc359110c49003390d8aa4a97246e00"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:HJFZDSAPDLQKHX4ZGA2KRKIJJX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hybrid Gripper with Passive Pneumatic Soft Joints for Grasping Deformable Thin Objects","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anh Nguyen, Hoang-Hiep Ly, Ngoc-Duy Tran, Thi-Thoa Mac, Tung D. Ta, Xuan-Thuan Nguyen","submitted_at":"2024-10-08T08:17:49Z","abstract_excerpt":"Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and textures. Inspired by how humans use two fingers to pick up thin and large objects such as fabric or sheets of paper, we aim to develop a gripper optimized for grasping such deformable objects. Observing how the soft and flexible fingertip joints of the hand approach and grasp thin materials, a hybrid gripper design that incorporates both soft and rigid componen"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.05789","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/2410.05789/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":"2026-07-05T09:18:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sCnHEb0urkvrYjLCOTNezrMB8yIGb2l3vzgnWAXeUq57U8uBsuUTB8rMdwyy/FBCU+C9vbZYsgmJeo9vl7rnCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T02:03:24.015709Z"},"content_sha256":"a8465c2fa1c073e667d17bea472f7ff935e449f508d4e447a5d0d9ba7974806b","schema_version":"1.0","event_id":"sha256:a8465c2fa1c073e667d17bea472f7ff935e449f508d4e447a5d0d9ba7974806b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HJFZDSAPDLQKHX4ZGA2KRKIJJX/bundle.json","state_url":"https://pith.science/pith/HJFZDSAPDLQKHX4ZGA2KRKIJJX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HJFZDSAPDLQKHX4ZGA2KRKIJJX/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":"2026-08-22T02:03:24Z","links":{"resolver":"https://pith.science/pith/HJFZDSAPDLQKHX4ZGA2KRKIJJX","bundle":"https://pith.science/pith/HJFZDSAPDLQKHX4ZGA2KRKIJJX/bundle.json","state":"https://pith.science/pith/HJFZDSAPDLQKHX4ZGA2KRKIJJX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HJFZDSAPDLQKHX4ZGA2KRKIJJX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:HJFZDSAPDLQKHX4ZGA2KRKIJJX","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":"c10fb48c7b2d3408eacec033db81ed1ba929029a0f04279030e4358983424a26","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-08T08:17:49Z","title_canon_sha256":"9777b72398f750413e88433453c39ea9e30dedab312efea8ade6227478c09168"},"schema_version":"1.0","source":{"id":"2410.05789","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.05789","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"arxiv_version","alias_value":"2410.05789v2","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.05789","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"pith_short_12","alias_value":"HJFZDSAPDLQK","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"pith_short_16","alias_value":"HJFZDSAPDLQKHX4Z","created_at":"2026-07-05T09:18:31Z"},{"alias_kind":"pith_short_8","alias_value":"HJFZDSAP","created_at":"2026-07-05T09:18:31Z"}],"graph_snapshots":[{"event_id":"sha256:a8465c2fa1c073e667d17bea472f7ff935e449f508d4e447a5d0d9ba7974806b","target":"graph","created_at":"2026-07-05T09:18:31Z","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/2410.05789/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and textures. Inspired by how humans use two fingers to pick up thin and large objects such as fabric or sheets of paper, we aim to develop a gripper optimized for grasping such deformable objects. Observing how the soft and flexible fingertip joints of the hand approach and grasp thin materials, a hybrid gripper design that incorporates both soft and rigid componen","authors_text":"Anh Nguyen, Hoang-Hiep Ly, Ngoc-Duy Tran, Thi-Thoa Mac, Tung D. Ta, Xuan-Thuan Nguyen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-08T08:17:49Z","title":"Hybrid Gripper with Passive Pneumatic Soft Joints for Grasping Deformable Thin Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.05789","kind":"arxiv","version":2},"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":"sha256:52fb823623bc8225a5f4046ddc604dacecc359110c49003390d8aa4a97246e00","target":"record","created_at":"2026-07-05T09:18:31Z","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":"c10fb48c7b2d3408eacec033db81ed1ba929029a0f04279030e4358983424a26","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-10-08T08:17:49Z","title_canon_sha256":"9777b72398f750413e88433453c39ea9e30dedab312efea8ade6227478c09168"},"schema_version":"1.0","source":{"id":"2410.05789","kind":"arxiv","version":2}},"canonical_sha256":"3a4b91c80f1ae0a3df993034a8a9094dcb9ddc0158f94a2e4efd322025b0e004","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3a4b91c80f1ae0a3df993034a8a9094dcb9ddc0158f94a2e4efd322025b0e004","first_computed_at":"2026-07-05T09:18:31.457892Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:18:31.457892Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IA4VOVyiVYKJAAa0ty4WAjCngN6svon0CBAM1TkEXwhqOuRggM5vfVOEBNq9H/6vv2J3+AGrnOneeZJoSXGACw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:18:31.458361Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.05789","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:52fb823623bc8225a5f4046ddc604dacecc359110c49003390d8aa4a97246e00","sha256:a8465c2fa1c073e667d17bea472f7ff935e449f508d4e447a5d0d9ba7974806b"],"state_sha256":"703e4a111ff22f58a1af10081407ad053cc0cab6926563001931fa5a0518f156"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rVpC98uvPfRQbiIfop6EeEsprAWcKVX8400xGmLYeNhUUYDnvC2kX0h9GwQfc3a73RMIpLW3guwvOJ5fTXbjAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T02:03:24.021109Z","bundle_sha256":"b4a45bf84fdb0804279b4823abcf7dabc5c6f56580af3d825a5e12b55da92fef"}}