{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:J2KQK4R5NPOKX27KJJ5XKFM6AR","short_pith_number":"pith:J2KQK4R5","canonical_record":{"source":{"id":"1806.08574","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-22T09:42:14Z","cross_cats_sorted":[],"title_canon_sha256":"f87a760cc5611fb284cbcbb377a8a8d930722ca5308dbc0b4f98b2e35e4901a5","abstract_canon_sha256":"4f833e27964b1a15278fd12c6dfda283996b5168538caa5d35934c8dce984d2b"},"schema_version":"1.0"},"canonical_sha256":"4e9505723d6bdcabebea4a7b75159e044a2eae6300af937f5467a67d30d6c5f9","source":{"kind":"arxiv","id":"1806.08574","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.08574","created_at":"2026-05-17T23:51:44Z"},{"alias_kind":"arxiv_version","alias_value":"1806.08574v1","created_at":"2026-05-17T23:51:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.08574","created_at":"2026-05-17T23:51:44Z"},{"alias_kind":"pith_short_12","alias_value":"J2KQK4R5NPOK","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_16","alias_value":"J2KQK4R5NPOKX27K","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_8","alias_value":"J2KQK4R5","created_at":"2026-05-18T12:32:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:J2KQK4R5NPOKX27KJJ5XKFM6AR","target":"record","payload":{"canonical_record":{"source":{"id":"1806.08574","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-22T09:42:14Z","cross_cats_sorted":[],"title_canon_sha256":"f87a760cc5611fb284cbcbb377a8a8d930722ca5308dbc0b4f98b2e35e4901a5","abstract_canon_sha256":"4f833e27964b1a15278fd12c6dfda283996b5168538caa5d35934c8dce984d2b"},"schema_version":"1.0"},"canonical_sha256":"4e9505723d6bdcabebea4a7b75159e044a2eae6300af937f5467a67d30d6c5f9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:51:44.085816Z","signature_b64":"9E+OwN8LnoM1icOMgH9+QaVB1QgyNt9t7JTFyu3mfyvQgEFmoTfdoF5rwC68sJ7e1XD6nomPZzWsqSGwfVrWBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4e9505723d6bdcabebea4a7b75159e044a2eae6300af937f5467a67d30d6c5f9","last_reissued_at":"2026-05-17T23:51:44.085228Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:51:44.085228Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1806.08574","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:51:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ukr7Yumuqe8S+04G4P/6/ZScKrq/StsumIrfG4BpskLqCDwi0j3aW2soVIQ/GDQJHo7DzZJnA0u1gPjrLKCVAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T05:44:13.444329Z"},"content_sha256":"bb27010519d88de9beb7034954df41078b150bda877d2e9b148222cb1c1a6ad4","schema_version":"1.0","event_id":"sha256:bb27010519d88de9beb7034954df41078b150bda877d2e9b148222cb1c1a6ad4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:J2KQK4R5NPOKX27KJJ5XKFM6AR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-time gait planner for human walking using a lower limb exoskeleton and its implementation on Exoped robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jafar Kazemi, Sadjaad Ozgoli","submitted_at":"2018-06-22T09:42:14Z","abstract_excerpt":"Lower extremity exoskeleton has been developed as a motion assistive technology in recent years. Walking pattern generation is a fundamental topic in the design of these robots. The usual approach with most exoskeletons is to use a pre-recorded pattern as a look-up table. There are some deficiencies with this method, including data storage limitation and poor regulation relating to the walking parameters. Therefore modeling human walking patterns to use in exoskeletons is required. The few existing models provide piece by piece walking patterns, only generating at the beginning of each stride "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.08574","kind":"arxiv","version":1},"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":"2026-05-17T23:51:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wznPPF2qcToK1IM9hWqi+wXT+z1dnn0nBcJyhj/oQ1OhblMlR02QbQ570WKoszwuEKckOZobr8KCYoVQ9u2EDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T05:44:13.444689Z"},"content_sha256":"fe6b5e97fb0636cb4797e764531a69d0a32f11b4bc11de240cbdaa87da057b52","schema_version":"1.0","event_id":"sha256:fe6b5e97fb0636cb4797e764531a69d0a32f11b4bc11de240cbdaa87da057b52"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J2KQK4R5NPOKX27KJJ5XKFM6AR/bundle.json","state_url":"https://pith.science/pith/J2KQK4R5NPOKX27KJJ5XKFM6AR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J2KQK4R5NPOKX27KJJ5XKFM6AR/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":"2026-06-03T05:44:13Z","links":{"resolver":"https://pith.science/pith/J2KQK4R5NPOKX27KJJ5XKFM6AR","bundle":"https://pith.science/pith/J2KQK4R5NPOKX27KJJ5XKFM6AR/bundle.json","state":"https://pith.science/pith/J2KQK4R5NPOKX27KJJ5XKFM6AR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J2KQK4R5NPOKX27KJJ5XKFM6AR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:J2KQK4R5NPOKX27KJJ5XKFM6AR","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":"4f833e27964b1a15278fd12c6dfda283996b5168538caa5d35934c8dce984d2b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-22T09:42:14Z","title_canon_sha256":"f87a760cc5611fb284cbcbb377a8a8d930722ca5308dbc0b4f98b2e35e4901a5"},"schema_version":"1.0","source":{"id":"1806.08574","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.08574","created_at":"2026-05-17T23:51:44Z"},{"alias_kind":"arxiv_version","alias_value":"1806.08574v1","created_at":"2026-05-17T23:51:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.08574","created_at":"2026-05-17T23:51:44Z"},{"alias_kind":"pith_short_12","alias_value":"J2KQK4R5NPOK","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_16","alias_value":"J2KQK4R5NPOKX27K","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_8","alias_value":"J2KQK4R5","created_at":"2026-05-18T12:32:31Z"}],"graph_snapshots":[{"event_id":"sha256:fe6b5e97fb0636cb4797e764531a69d0a32f11b4bc11de240cbdaa87da057b52","target":"graph","created_at":"2026-05-17T23:51:44Z","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":"Lower extremity exoskeleton has been developed as a motion assistive technology in recent years. Walking pattern generation is a fundamental topic in the design of these robots. The usual approach with most exoskeletons is to use a pre-recorded pattern as a look-up table. There are some deficiencies with this method, including data storage limitation and poor regulation relating to the walking parameters. Therefore modeling human walking patterns to use in exoskeletons is required. The few existing models provide piece by piece walking patterns, only generating at the beginning of each stride ","authors_text":"Jafar Kazemi, Sadjaad Ozgoli","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-22T09:42:14Z","title":"Real-time gait planner for human walking using a lower limb exoskeleton and its implementation on Exoped robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.08574","kind":"arxiv","version":1},"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:bb27010519d88de9beb7034954df41078b150bda877d2e9b148222cb1c1a6ad4","target":"record","created_at":"2026-05-17T23:51:44Z","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":"4f833e27964b1a15278fd12c6dfda283996b5168538caa5d35934c8dce984d2b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-22T09:42:14Z","title_canon_sha256":"f87a760cc5611fb284cbcbb377a8a8d930722ca5308dbc0b4f98b2e35e4901a5"},"schema_version":"1.0","source":{"id":"1806.08574","kind":"arxiv","version":1}},"canonical_sha256":"4e9505723d6bdcabebea4a7b75159e044a2eae6300af937f5467a67d30d6c5f9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4e9505723d6bdcabebea4a7b75159e044a2eae6300af937f5467a67d30d6c5f9","first_computed_at":"2026-05-17T23:51:44.085228Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:51:44.085228Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9E+OwN8LnoM1icOMgH9+QaVB1QgyNt9t7JTFyu3mfyvQgEFmoTfdoF5rwC68sJ7e1XD6nomPZzWsqSGwfVrWBA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:51:44.085816Z","signed_message":"canonical_sha256_bytes"},"source_id":"1806.08574","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bb27010519d88de9beb7034954df41078b150bda877d2e9b148222cb1c1a6ad4","sha256:fe6b5e97fb0636cb4797e764531a69d0a32f11b4bc11de240cbdaa87da057b52"],"state_sha256":"2732fdcefd24b337f830deb0986eb760c879e5df4da2100ee5aaa13fc7a6c313"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oeguJGA+PKr6Ubyk9TOnV60hFBt/Tisd8VzElq539WCByPgXnNuomF8HlrU1UppcKso8VmJGS2e/rfWFfm/3Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T05:44:13.448031Z","bundle_sha256":"237f7d242e2bb4dc40f61310fe00176a53db3fefbfdb9775d996d6c7132fde7e"}}