{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:LGGH4FLZ6WHPW4R3G2JFZMKSOZ","short_pith_number":"pith:LGGH4FLZ","schema_version":"1.0","canonical_sha256":"598c7e1579f58efb723b36925cb15276494c6d7e2d0e7cfa264f931c8f92937e","source":{"kind":"arxiv","id":"1708.00922","version":1},"attestation_state":"computed","paper":{"title":"Improved GelSight Tactile Sensor for Measuring Geometry and Slip","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edward Adelson, Siyuan Dong, Wenzhen Yuan","submitted_at":"2017-08-02T20:32:17Z","abstract_excerpt":"A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot tasks. A previous sensor, based on a semi-specular membrane, produces high resolution but with limited geometry accuracy. In this paper, we describe a new design of GelSight for robot gripper, using a Lambertian membrane and new illumination system, which gives greatly improved geometric accuracy while retaining the compact size. We demonstrate its use in m"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1708.00922","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-08-02T20:32:17Z","cross_cats_sorted":[],"title_canon_sha256":"355db2556026174bb7ee05bd4874ec8c44adde44c314fcd5c298eb2c47230903","abstract_canon_sha256":"91d45632aa4769fcf497cc0b4a67935fdb09e6e96fa4b881eac94513097dff2c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:22:20.838108Z","signature_b64":"Yg/AKnc3ekIv2gEbvUAnM+SnJM5NfhRsoAjuqVlD7pM+mYfvVwHy+8+bWbW4lmqav5DV/X9w4SEaUPJAqpOSAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"598c7e1579f58efb723b36925cb15276494c6d7e2d0e7cfa264f931c8f92937e","last_reissued_at":"2026-05-18T00:22:20.837545Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:22:20.837545Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Improved GelSight Tactile Sensor for Measuring Geometry and Slip","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edward Adelson, Siyuan Dong, Wenzhen Yuan","submitted_at":"2017-08-02T20:32:17Z","abstract_excerpt":"A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot tasks. A previous sensor, based on a semi-specular membrane, produces high resolution but with limited geometry accuracy. In this paper, we describe a new design of GelSight for robot gripper, using a Lambertian membrane and new illumination system, which gives greatly improved geometric accuracy while retaining the compact size. We demonstrate its use in m"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.00922","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1708.00922","created_at":"2026-05-18T00:22:20.837612+00:00"},{"alias_kind":"arxiv_version","alias_value":"1708.00922v1","created_at":"2026-05-18T00:22:20.837612+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.00922","created_at":"2026-05-18T00:22:20.837612+00:00"},{"alias_kind":"pith_short_12","alias_value":"LGGH4FLZ6WHP","created_at":"2026-05-18T12:31:28.150371+00:00"},{"alias_kind":"pith_short_16","alias_value":"LGGH4FLZ6WHPW4R3","created_at":"2026-05-18T12:31:28.150371+00:00"},{"alias_kind":"pith_short_8","alias_value":"LGGH4FLZ","created_at":"2026-05-18T12:31:28.150371+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ","json":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ.json","graph_json":"https://pith.science/api/pith-number/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/graph.json","events_json":"https://pith.science/api/pith-number/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/events.json","paper":"https://pith.science/paper/LGGH4FLZ"},"agent_actions":{"view_html":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ","download_json":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ.json","view_paper":"https://pith.science/paper/LGGH4FLZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1708.00922&json=true","fetch_graph":"https://pith.science/api/pith-number/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/graph.json","fetch_events":"https://pith.science/api/pith-number/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/action/storage_attestation","attest_author":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/action/author_attestation","sign_citation":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/action/citation_signature","submit_replication":"https://pith.science/pith/LGGH4FLZ6WHPW4R3G2JFZMKSOZ/action/replication_record"}},"created_at":"2026-05-18T00:22:20.837612+00:00","updated_at":"2026-05-18T00:22:20.837612+00:00"}