Pith Number

pith:LUCNEE3R

pith:2026:LUCNEE3RBTLCXSLKLNHK2M7DLH

not attested not anchored not stored refs pending

Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework

Haotian Zhai, Houcheng Li, Lijun Han, Long Cheng, Muyuan Ma, Xinpan Meng, Xiuze Xia

arxiv:2606.06370 v1 · 2026-06-04 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{LUCNEE3RBTLCXSLKLNHK2M7DLH}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-06-05T01:15:43.371474Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5d04d213710cd62bc96a5b4ead33e359e3151fe607a461039b11959ee11f3278

Aliases

arxiv: 2606.06370 · arxiv_version: 2606.06370v1 · doi: 10.48550/arxiv.2606.06370 · pith_short_12: LUCNEE3RBTLC · pith_short_16: LUCNEE3RBTLCXSLK · pith_short_8: LUCNEE3R

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/LUCNEE3RBTLCXSLKLNHK2M7DLH \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 5d04d213710cd62bc96a5b4ead33e359e3151fe607a461039b11959ee11f3278

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fccd33e1a2c37bf2c549cc80f159d848d35d92732c8e8430b02534131281b0cb",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-04T16:37:01Z",
    "title_canon_sha256": "a309ac35633ff6626ba180eb627c228a1466f808d3bf399929d41caa20d2fe3c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.06370",
    "kind": "arxiv",
    "version": 1
  }
}