{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:JLKC5LZGCMP6ZNXT5XUWN5QBZ4","short_pith_number":"pith:JLKC5LZG","canonical_record":{"source":{"id":"2605.16389","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T18:16:45Z","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"title_canon_sha256":"79cd05ac9f0634c28e772dc0738e90b07ea3a0f234a61818824cf4903344a031","abstract_canon_sha256":"60b761b5a46e76d3a5de288fa17871491c7d4203a03051182205adbde5d4fd60"},"schema_version":"1.0"},"canonical_sha256":"4ad42eaf26131fecb6f3ede966f601cf1aa8c1fd4a42e91fffb1a8b270bb7c1f","source":{"kind":"arxiv","id":"2605.16389","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.16389","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"arxiv_version","alias_value":"2605.16389v1","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.16389","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"pith_short_12","alias_value":"JLKC5LZGCMP6","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"pith_short_16","alias_value":"JLKC5LZGCMP6ZNXT","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"pith_short_8","alias_value":"JLKC5LZG","created_at":"2026-05-20T00:02:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:JLKC5LZGCMP6ZNXT5XUWN5QBZ4","target":"record","payload":{"canonical_record":{"source":{"id":"2605.16389","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T18:16:45Z","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"title_canon_sha256":"79cd05ac9f0634c28e772dc0738e90b07ea3a0f234a61818824cf4903344a031","abstract_canon_sha256":"60b761b5a46e76d3a5de288fa17871491c7d4203a03051182205adbde5d4fd60"},"schema_version":"1.0"},"canonical_sha256":"4ad42eaf26131fecb6f3ede966f601cf1aa8c1fd4a42e91fffb1a8b270bb7c1f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:02:19.865377Z","signature_b64":"AlmB75RFjlgO/2aupEYgiuxNluxRJ29FSrDCSMQrfmLBpOEwIXy8Jl+609iFRgJhrRC7UX/JLmjjt3kDutYGBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4ad42eaf26131fecb6f3ede966f601cf1aa8c1fd4a42e91fffb1a8b270bb7c1f","last_reissued_at":"2026-05-20T00:02:19.864653Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:02:19.864653Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.16389","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":"2026-05-20T00:02:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XYvK7yhu8pa6RVVKV5tR9F5rolfh7uWhJg3ukxVPr7aoIshKTXRSBQHJjW1nS5AoV95KF+ZE4GU2lSucSp+qAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T22:13:21.316103Z"},"content_sha256":"dc929d94fca9f5eb6c0a9886e5a67c942fd179dfd8a243757ea40007beefcb3d","schema_version":"1.0","event_id":"sha256:dc929d94fca9f5eb6c0a9886e5a67c942fd179dfd8a243757ea40007beefcb3d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:JLKC5LZGCMP6ZNXT5XUWN5QBZ4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Haptic Rendering of Fractional-Order Viscoelasticity: Passivity and Rendering Fidelity","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Gorkem Gemalmaz, Harun Tolasa, Volkan Patoglu","submitted_at":"2026-05-11T18:16:45Z","abstract_excerpt":"Haptic rendering of viscoelastic materials that exhibit creep and stress relaxation is crucial for many applications, such as medical training with realistic biological tissue models. Fractional-order viscoelastic models provide an effective means of describing intrinsically time-dependent dynamics with few parameters, as these models can naturally capture memory effects. In this study, we present analyses of passivity and rendering performance for fractional-order viscoelastic models under finite-memory discretization. We derive closed-form expressions to ensure the passivity of haptic render"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16389","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.16389/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T19:34:36.609173Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"4cf43261628966374131dfd845414065cd6214ce61748a371e14f33b42f627a5"},"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":"2026-05-20T00:02:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hY3e8b5sn8KfVXn2y8xuAlSNx7ZXou/9PTNiLu1qSYWQX0QgUFBuXXNhaYzusoRn7oSqzWHAJz3wL9FX/lywBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T22:13:21.316800Z"},"content_sha256":"695220485f0756e25ad0c7bd2d99661a1a5e6ab0a11aaac18ba3671b78bc5727","schema_version":"1.0","event_id":"sha256:695220485f0756e25ad0c7bd2d99661a1a5e6ab0a11aaac18ba3671b78bc5727"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JLKC5LZGCMP6ZNXT5XUWN5QBZ4/bundle.json","state_url":"https://pith.science/pith/JLKC5LZGCMP6ZNXT5XUWN5QBZ4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JLKC5LZGCMP6ZNXT5XUWN5QBZ4/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":"2026-05-31T22:13:21Z","links":{"resolver":"https://pith.science/pith/JLKC5LZGCMP6ZNXT5XUWN5QBZ4","bundle":"https://pith.science/pith/JLKC5LZGCMP6ZNXT5XUWN5QBZ4/bundle.json","state":"https://pith.science/pith/JLKC5LZGCMP6ZNXT5XUWN5QBZ4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JLKC5LZGCMP6ZNXT5XUWN5QBZ4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:JLKC5LZGCMP6ZNXT5XUWN5QBZ4","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":"60b761b5a46e76d3a5de288fa17871491c7d4203a03051182205adbde5d4fd60","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T18:16:45Z","title_canon_sha256":"79cd05ac9f0634c28e772dc0738e90b07ea3a0f234a61818824cf4903344a031"},"schema_version":"1.0","source":{"id":"2605.16389","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.16389","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"arxiv_version","alias_value":"2605.16389v1","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.16389","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"pith_short_12","alias_value":"JLKC5LZGCMP6","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"pith_short_16","alias_value":"JLKC5LZGCMP6ZNXT","created_at":"2026-05-20T00:02:19Z"},{"alias_kind":"pith_short_8","alias_value":"JLKC5LZG","created_at":"2026-05-20T00:02:19Z"}],"graph_snapshots":[{"event_id":"sha256:695220485f0756e25ad0c7bd2d99661a1a5e6ab0a11aaac18ba3671b78bc5727","target":"graph","created_at":"2026-05-20T00:02:19Z","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":[{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T19:34:36.609173Z","status":"skipped","version":"1.0.0"}],"endpoint":"/pith/2605.16389/integrity.json","findings":[],"snapshot_sha256":"4cf43261628966374131dfd845414065cd6214ce61748a371e14f33b42f627a5","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Haptic rendering of viscoelastic materials that exhibit creep and stress relaxation is crucial for many applications, such as medical training with realistic biological tissue models. Fractional-order viscoelastic models provide an effective means of describing intrinsically time-dependent dynamics with few parameters, as these models can naturally capture memory effects. In this study, we present analyses of passivity and rendering performance for fractional-order viscoelastic models under finite-memory discretization. We derive closed-form expressions to ensure the passivity of haptic render","authors_text":"Gorkem Gemalmaz, Harun Tolasa, Volkan Patoglu","cross_cats":["cs.AI","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T18:16:45Z","title":"Haptic Rendering of Fractional-Order Viscoelasticity: Passivity and Rendering Fidelity"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16389","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:dc929d94fca9f5eb6c0a9886e5a67c942fd179dfd8a243757ea40007beefcb3d","target":"record","created_at":"2026-05-20T00:02:19Z","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":"60b761b5a46e76d3a5de288fa17871491c7d4203a03051182205adbde5d4fd60","cross_cats_sorted":["cs.AI","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-11T18:16:45Z","title_canon_sha256":"79cd05ac9f0634c28e772dc0738e90b07ea3a0f234a61818824cf4903344a031"},"schema_version":"1.0","source":{"id":"2605.16389","kind":"arxiv","version":1}},"canonical_sha256":"4ad42eaf26131fecb6f3ede966f601cf1aa8c1fd4a42e91fffb1a8b270bb7c1f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4ad42eaf26131fecb6f3ede966f601cf1aa8c1fd4a42e91fffb1a8b270bb7c1f","first_computed_at":"2026-05-20T00:02:19.864653Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:02:19.864653Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"AlmB75RFjlgO/2aupEYgiuxNluxRJ29FSrDCSMQrfmLBpOEwIXy8Jl+609iFRgJhrRC7UX/JLmjjt3kDutYGBg==","signature_status":"signed_v1","signed_at":"2026-05-20T00:02:19.865377Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.16389","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dc929d94fca9f5eb6c0a9886e5a67c942fd179dfd8a243757ea40007beefcb3d","sha256:695220485f0756e25ad0c7bd2d99661a1a5e6ab0a11aaac18ba3671b78bc5727"],"state_sha256":"0247852bd98b96ef94fb3a560ecefffcc2e64a6ae66d5707a07ce662015fdd99"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6lrH/aJx68d2XSsbeJ5j7nbZt28d1uCEV++YwJWkGQG2ceCKho6gJPsmemXxrUIRWDRTfX767nKklY9vA301BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T22:13:21.320689Z","bundle_sha256":"c6dbe45c6ba08442b69288ee11146a39242c97c626b13e4cd7dca881ffb90d65"}}