{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:L3WEU4WDAX3Q3XF7JIAKQGIZNS","short_pith_number":"pith:L3WEU4WD","canonical_record":{"source":{"id":"2303.17355","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-30T13:11:31Z","cross_cats_sorted":[],"title_canon_sha256":"a211c51deddbdeb9381575d187ff1d107a4123bf6e7cc6286e3ad31eb3b0d7bf","abstract_canon_sha256":"fbf1e6be730753ed86a8035daadd0af2430ebd328be7680ba0ae412342003404"},"schema_version":"1.0"},"canonical_sha256":"5eec4a72c305f70ddcbf4a00a819196c9f43f8a7cffab15a4b6bb988ce92fbd0","source":{"kind":"arxiv","id":"2303.17355","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.17355","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"arxiv_version","alias_value":"2303.17355v3","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.17355","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"pith_short_12","alias_value":"L3WEU4WDAX3Q","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"pith_short_16","alias_value":"L3WEU4WDAX3Q3XF7","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"pith_short_8","alias_value":"L3WEU4WD","created_at":"2026-07-05T07:50:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:L3WEU4WDAX3Q3XF7JIAKQGIZNS","target":"record","payload":{"canonical_record":{"source":{"id":"2303.17355","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-30T13:11:31Z","cross_cats_sorted":[],"title_canon_sha256":"a211c51deddbdeb9381575d187ff1d107a4123bf6e7cc6286e3ad31eb3b0d7bf","abstract_canon_sha256":"fbf1e6be730753ed86a8035daadd0af2430ebd328be7680ba0ae412342003404"},"schema_version":"1.0"},"canonical_sha256":"5eec4a72c305f70ddcbf4a00a819196c9f43f8a7cffab15a4b6bb988ce92fbd0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:50:37.892673Z","signature_b64":"ukWgyMWrVzV+pJv1lH4CZG3ddd747ZehqR/EZslXhzr7/gblnVC5aHX1oKmEXp5sbBOssrBWS9/Sb1aidVgNAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5eec4a72c305f70ddcbf4a00a819196c9f43f8a7cffab15a4b6bb988ce92fbd0","last_reissued_at":"2026-07-05T07:50:37.892149Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:50:37.892149Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.17355","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:50:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FgqASldY0ZM6xHtnP2Dd21rbJUG+PAoR0TbEtLFmD55hSElebrH2YU+owM85McqFnXIX4rHw2q2st08/zwFmAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T11:46:31.394205Z"},"content_sha256":"e929982239c4e9777899d0e68bd0f8b89cfb366184675eab61525f537b68b8c4","schema_version":"1.0","event_id":"sha256:e929982239c4e9777899d0e68bd0f8b89cfb366184675eab61525f537b68b8c4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:L3WEU4WDAX3Q3XF7JIAKQGIZNS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Acoustic Soft Tactile Skin (AST Skin)","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Amir Ghalamzan E, Simon Parsons, Vishnu Rajendran S, Willow Mandil","submitted_at":"2023-03-30T13:11:31Z","abstract_excerpt":"This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a deformation of the channel when pressed by an external force and received by a microphone at the end of the channel. The sensor leverages regression and classification methods for estimating the normal force and its contact location. Our sensor can be affixed to any robot part, e.g., end effectors or arm. We tested several regression and classifier methods to learn"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.17355","kind":"arxiv","version":3},"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/2303.17355/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":"2026-07-05T07:50:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RfJ8MkTZy5Y0RUSW4dgst+CWPGzAKHuJx4ono1ttT8TbjFb/NyKzsniO3SbFBgUFZ+gBBX/mh/QK6VsdSEmnAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T11:46:31.395298Z"},"content_sha256":"6ffb34ece793aadd303648549daf5849298304ff408a1611227f238a8c46e661","schema_version":"1.0","event_id":"sha256:6ffb34ece793aadd303648549daf5849298304ff408a1611227f238a8c46e661"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/L3WEU4WDAX3Q3XF7JIAKQGIZNS/bundle.json","state_url":"https://pith.science/pith/L3WEU4WDAX3Q3XF7JIAKQGIZNS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/L3WEU4WDAX3Q3XF7JIAKQGIZNS/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":"2026-08-14T11:46:31Z","links":{"resolver":"https://pith.science/pith/L3WEU4WDAX3Q3XF7JIAKQGIZNS","bundle":"https://pith.science/pith/L3WEU4WDAX3Q3XF7JIAKQGIZNS/bundle.json","state":"https://pith.science/pith/L3WEU4WDAX3Q3XF7JIAKQGIZNS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/L3WEU4WDAX3Q3XF7JIAKQGIZNS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:L3WEU4WDAX3Q3XF7JIAKQGIZNS","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":"fbf1e6be730753ed86a8035daadd0af2430ebd328be7680ba0ae412342003404","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-30T13:11:31Z","title_canon_sha256":"a211c51deddbdeb9381575d187ff1d107a4123bf6e7cc6286e3ad31eb3b0d7bf"},"schema_version":"1.0","source":{"id":"2303.17355","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.17355","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"arxiv_version","alias_value":"2303.17355v3","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.17355","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"pith_short_12","alias_value":"L3WEU4WDAX3Q","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"pith_short_16","alias_value":"L3WEU4WDAX3Q3XF7","created_at":"2026-07-05T07:50:37Z"},{"alias_kind":"pith_short_8","alias_value":"L3WEU4WD","created_at":"2026-07-05T07:50:37Z"}],"graph_snapshots":[{"event_id":"sha256:6ffb34ece793aadd303648549daf5849298304ff408a1611227f238a8c46e661","target":"graph","created_at":"2026-07-05T07:50:37Z","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/2303.17355/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a deformation of the channel when pressed by an external force and received by a microphone at the end of the channel. The sensor leverages regression and classification methods for estimating the normal force and its contact location. Our sensor can be affixed to any robot part, e.g., end effectors or arm. We tested several regression and classifier methods to learn","authors_text":"Amir Ghalamzan E, Simon Parsons, Vishnu Rajendran S, Willow Mandil","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-30T13:11:31Z","title":"Acoustic Soft Tactile Skin (AST Skin)"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.17355","kind":"arxiv","version":3},"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:e929982239c4e9777899d0e68bd0f8b89cfb366184675eab61525f537b68b8c4","target":"record","created_at":"2026-07-05T07:50:37Z","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":"fbf1e6be730753ed86a8035daadd0af2430ebd328be7680ba0ae412342003404","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-30T13:11:31Z","title_canon_sha256":"a211c51deddbdeb9381575d187ff1d107a4123bf6e7cc6286e3ad31eb3b0d7bf"},"schema_version":"1.0","source":{"id":"2303.17355","kind":"arxiv","version":3}},"canonical_sha256":"5eec4a72c305f70ddcbf4a00a819196c9f43f8a7cffab15a4b6bb988ce92fbd0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5eec4a72c305f70ddcbf4a00a819196c9f43f8a7cffab15a4b6bb988ce92fbd0","first_computed_at":"2026-07-05T07:50:37.892149Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:50:37.892149Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ukWgyMWrVzV+pJv1lH4CZG3ddd747ZehqR/EZslXhzr7/gblnVC5aHX1oKmEXp5sbBOssrBWS9/Sb1aidVgNAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:50:37.892673Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.17355","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e929982239c4e9777899d0e68bd0f8b89cfb366184675eab61525f537b68b8c4","sha256:6ffb34ece793aadd303648549daf5849298304ff408a1611227f238a8c46e661"],"state_sha256":"676659a4b3f648e38fd1a72e1feda5115f16afc7054a6d5215a2619e59c17206"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z/IryG7PLJZXiX6uDW2ovGADMwApn/lpP+JpN0EOMFHJ+QMaDjN0g6oaMPH5y83l+3QfSFyZeTGIoUW5bYm5CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T11:46:31.402085Z","bundle_sha256":"25595f6261b58aeeffcaa60f4bfcb96926700422960cec5c5a72f74e5ba61f0f"}}