Pith Number

pith:HMXK7WKN

pith:2026:HMXK7WKNHO7ANMGVUCNB4ORJ6Q

not attested not anchored not stored refs pending

A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units

Andrew Lewis, Blake Hannaford, Dun-Tin Chiang, Haokun Feng, Haonan Peng, Jared Shing, Jordan Hendricks, Yun-Hsuan Su

arxiv:2608.06488 v1 · 2026-08-06 · 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{HMXK7WKNHO7ANMGVUCNB4ORJ6Q}

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	2026-08-10T01:10:49.857683Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3b2eafd94d3bbe06b0d5a09a1e3a29f429d8fb16c9fab3372314561dd5501f30

Aliases

arxiv: 2608.06488 · arxiv_version: 2608.06488v1 · doi: 10.48550/arxiv.2608.06488 · pith_short_12: HMXK7WKNHO7A · pith_short_16: HMXK7WKNHO7ANMGV · pith_short_8: HMXK7WKN

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/HMXK7WKNHO7ANMGVUCNB4ORJ6Q \
  | 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: 3b2eafd94d3bbe06b0d5a09a1e3a29f429d8fb16c9fab3372314561dd5501f30

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "eb7f336a334c1ce753da6c217a16e633bb1cbdbb8fd89c3169f107ecac486a65",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-08-06T18:27:58Z",
    "title_canon_sha256": "fbca817581234aaac354571f807d5f7d5350742c97b51a1402658755b22af5c0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2608.06488",
    "kind": "arxiv",
    "version": 1
  }
}