{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:HQQTD6H7OCWIPALSCP2EZMGUH4","short_pith_number":"pith:HQQTD6H7","canonical_record":{"source":{"id":"1712.02336","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T18:58:53Z","cross_cats_sorted":[],"title_canon_sha256":"8ce29614a0abb32574adbafb6d7a90fb1a39f753307bf8c1dd10f7e7dd4efc32","abstract_canon_sha256":"6f020ed024b999cf157fed9e337bff0a4e514f93963a840f9224b6ce51a51c00"},"schema_version":"1.0"},"canonical_sha256":"3c2131f8ff70ac87817213f44cb0d43f3c66eae0e7def34eeddeb457cff57936","source":{"kind":"arxiv","id":"1712.02336","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.02336","created_at":"2026-05-18T00:27:41Z"},{"alias_kind":"arxiv_version","alias_value":"1712.02336v2","created_at":"2026-05-18T00:27:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.02336","created_at":"2026-05-18T00:27:41Z"},{"alias_kind":"pith_short_12","alias_value":"HQQTD6H7OCWI","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"HQQTD6H7OCWIPALS","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"HQQTD6H7","created_at":"2026-05-18T12:31:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:HQQTD6H7OCWIPALSCP2EZMGUH4","target":"record","payload":{"canonical_record":{"source":{"id":"1712.02336","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T18:58:53Z","cross_cats_sorted":[],"title_canon_sha256":"8ce29614a0abb32574adbafb6d7a90fb1a39f753307bf8c1dd10f7e7dd4efc32","abstract_canon_sha256":"6f020ed024b999cf157fed9e337bff0a4e514f93963a840f9224b6ce51a51c00"},"schema_version":"1.0"},"canonical_sha256":"3c2131f8ff70ac87817213f44cb0d43f3c66eae0e7def34eeddeb457cff57936","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:27:41.390663Z","signature_b64":"uXYV00Ycocb1FcAs4tT6jJbX6uvHJY+fXh6eNkaVFa96zD/s9b50fTYv3R9LQg5gPnX3CBBrSSPDO9Q6Q2zUDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3c2131f8ff70ac87817213f44cb0d43f3c66eae0e7def34eeddeb457cff57936","last_reissued_at":"2026-05-18T00:27:41.389936Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:27:41.389936Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1712.02336","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":"2026-05-18T00:27:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fNrljKzrc8wXBf0RWmZXRcagnD1kAxqANfUzzxmqBhvfXqP9zthrmk6mShd3rH7ZXwpSEwP1sa4UqJ+lBUB2Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T15:06:58.374678Z"},"content_sha256":"4a84af913d80ecc81d8babd70f623060bd807919f5531b46e2e2d79e34c81bdf","schema_version":"1.0","event_id":"sha256:4a84af913d80ecc81d8babd70f623060bd807919f5531b46e2e2d79e34c81bdf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:HQQTD6H7OCWIPALSCP2EZMGUH4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Computational Approach for Human-like Motion Generation in Upper Limb Exoskeletons Supporting Scapulohumeral Rhythms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Amin Zeiaee, Rana Soltani-Zarrin, Reza Langari, Reza Tafreshi","submitted_at":"2017-12-06T18:58:53Z","abstract_excerpt":"This paper proposes a computational approach for generation of reference path for upper-limb exoskeletons considering the scapulohumeral rhythms of the shoulder. The proposed method can be used in upper-limb exoskeletons with 3 Degrees of Freedom (DoF) in shoulder and 1 DoF in elbow, which are capable of supporting shoulder girdle. The developed computational method is based on Central Nervous System (CNS) governing rules. Existing computational reference generation methods are based on the assumption of fixed shoulder center during motions. This assumption can be considered valid for reaching"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.02336","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":""},"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":"2026-05-18T00:27:41Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mFb8FyI5rnYWk2Dd2gteWBzCUt99t7MDdnu9EHGLSM1VYTyvi1OUxbKpDoclIfAG8RNnvmx70n+iPzBNCQqRAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T15:06:58.375027Z"},"content_sha256":"3b6bf68ecc12a452f2a8a2081df7d316af16d883dbf60922596a9fa56c88d4f6","schema_version":"1.0","event_id":"sha256:3b6bf68ecc12a452f2a8a2081df7d316af16d883dbf60922596a9fa56c88d4f6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HQQTD6H7OCWIPALSCP2EZMGUH4/bundle.json","state_url":"https://pith.science/pith/HQQTD6H7OCWIPALSCP2EZMGUH4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HQQTD6H7OCWIPALSCP2EZMGUH4/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":"2026-07-02T15:06:58Z","links":{"resolver":"https://pith.science/pith/HQQTD6H7OCWIPALSCP2EZMGUH4","bundle":"https://pith.science/pith/HQQTD6H7OCWIPALSCP2EZMGUH4/bundle.json","state":"https://pith.science/pith/HQQTD6H7OCWIPALSCP2EZMGUH4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HQQTD6H7OCWIPALSCP2EZMGUH4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:HQQTD6H7OCWIPALSCP2EZMGUH4","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":"6f020ed024b999cf157fed9e337bff0a4e514f93963a840f9224b6ce51a51c00","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T18:58:53Z","title_canon_sha256":"8ce29614a0abb32574adbafb6d7a90fb1a39f753307bf8c1dd10f7e7dd4efc32"},"schema_version":"1.0","source":{"id":"1712.02336","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.02336","created_at":"2026-05-18T00:27:41Z"},{"alias_kind":"arxiv_version","alias_value":"1712.02336v2","created_at":"2026-05-18T00:27:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.02336","created_at":"2026-05-18T00:27:41Z"},{"alias_kind":"pith_short_12","alias_value":"HQQTD6H7OCWI","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"HQQTD6H7OCWIPALS","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"HQQTD6H7","created_at":"2026-05-18T12:31:18Z"}],"graph_snapshots":[{"event_id":"sha256:3b6bf68ecc12a452f2a8a2081df7d316af16d883dbf60922596a9fa56c88d4f6","target":"graph","created_at":"2026-05-18T00:27:41Z","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"},"paper":{"abstract_excerpt":"This paper proposes a computational approach for generation of reference path for upper-limb exoskeletons considering the scapulohumeral rhythms of the shoulder. The proposed method can be used in upper-limb exoskeletons with 3 Degrees of Freedom (DoF) in shoulder and 1 DoF in elbow, which are capable of supporting shoulder girdle. The developed computational method is based on Central Nervous System (CNS) governing rules. Existing computational reference generation methods are based on the assumption of fixed shoulder center during motions. This assumption can be considered valid for reaching","authors_text":"Amin Zeiaee, Rana Soltani-Zarrin, Reza Langari, Reza Tafreshi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T18:58:53Z","title":"A Computational Approach for Human-like Motion Generation in Upper Limb Exoskeletons Supporting Scapulohumeral Rhythms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.02336","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":"sha256:4a84af913d80ecc81d8babd70f623060bd807919f5531b46e2e2d79e34c81bdf","target":"record","created_at":"2026-05-18T00:27:41Z","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":"6f020ed024b999cf157fed9e337bff0a4e514f93963a840f9224b6ce51a51c00","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T18:58:53Z","title_canon_sha256":"8ce29614a0abb32574adbafb6d7a90fb1a39f753307bf8c1dd10f7e7dd4efc32"},"schema_version":"1.0","source":{"id":"1712.02336","kind":"arxiv","version":2}},"canonical_sha256":"3c2131f8ff70ac87817213f44cb0d43f3c66eae0e7def34eeddeb457cff57936","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3c2131f8ff70ac87817213f44cb0d43f3c66eae0e7def34eeddeb457cff57936","first_computed_at":"2026-05-18T00:27:41.389936Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:27:41.389936Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uXYV00Ycocb1FcAs4tT6jJbX6uvHJY+fXh6eNkaVFa96zD/s9b50fTYv3R9LQg5gPnX3CBBrSSPDO9Q6Q2zUDw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:27:41.390663Z","signed_message":"canonical_sha256_bytes"},"source_id":"1712.02336","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4a84af913d80ecc81d8babd70f623060bd807919f5531b46e2e2d79e34c81bdf","sha256:3b6bf68ecc12a452f2a8a2081df7d316af16d883dbf60922596a9fa56c88d4f6"],"state_sha256":"1c06aa44fb16b3cafc5cfb91b3665f38edca5e212582b4b9abd73ed5efc6178f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mvpYSSBO3CHEdciAW9JHpMFFJ8ycYm4yaFDFXHsWyWGX1oaSxdzQDrG7KG49QOTO9RWWrhhKaIFVXNZ1rngWBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T15:06:58.377000Z","bundle_sha256":"860525732eec8e96d98ed4b7c96d675c76f848134de4e28221af9a08d05c7ae7"}}