{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:MBVT4QUISMNK5XSWPTE3LY3DHW","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":"20aeefa30bb18123267854c503cd47c72a3a5553c3fde44ec0adcc3b038e48bd","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2014-01-25T10:37:55Z","title_canon_sha256":"cedb8e035387b0e469802ddeaedfa74b5a99ebdade2c6c415c9c8eb02b76de1c"},"schema_version":"1.0","source":{"id":"1401.6517","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1401.6517","created_at":"2026-05-18T03:01:01Z"},{"alias_kind":"arxiv_version","alias_value":"1401.6517v1","created_at":"2026-05-18T03:01:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1401.6517","created_at":"2026-05-18T03:01:01Z"},{"alias_kind":"pith_short_12","alias_value":"MBVT4QUISMNK","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_16","alias_value":"MBVT4QUISMNK5XSW","created_at":"2026-05-18T12:28:38Z"},{"alias_kind":"pith_short_8","alias_value":"MBVT4QUI","created_at":"2026-05-18T12:28:38Z"}],"graph_snapshots":[{"event_id":"sha256:9e9f443f251106723c06d71c6c09f3929035f7f072c753bf94b4f615016ebec5","target":"graph","created_at":"2026-05-18T03:01:01Z","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":"The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the three-dimensional simulation model of the exoskeleton robot was built using MATLAB software, based on the model, 3D reappearance of a complete gait was achieved. Finally, the reliability of numerical algorithm of inverse kinematics was verified by the simulation result. All jobs above lay a foundation for developing a three-dimensional simulation platform of exoskeleton ","authors_text":"Jiangcheng Chen, Lei Zhu, Xiaodong Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2014-01-25T10:37:55Z","title":"Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1401.6517","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":"sha256:5fbc928b94c26409bb57e6fb5bd96fbae5df1760014ef316387aa23ca20666b8","target":"record","created_at":"2026-05-18T03:01:01Z","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":"20aeefa30bb18123267854c503cd47c72a3a5553c3fde44ec0adcc3b038e48bd","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/3.0/","primary_cat":"cs.RO","submitted_at":"2014-01-25T10:37:55Z","title_canon_sha256":"cedb8e035387b0e469802ddeaedfa74b5a99ebdade2c6c415c9c8eb02b76de1c"},"schema_version":"1.0","source":{"id":"1401.6517","kind":"arxiv","version":1}},"canonical_sha256":"606b3e4288931aaede567cc9b5e3633dbdfe1327ce6e06af2c225a308ca2682c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"606b3e4288931aaede567cc9b5e3633dbdfe1327ce6e06af2c225a308ca2682c","first_computed_at":"2026-05-18T03:01:01.501265Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:01:01.501265Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Bp26lDmSyiWLYpI63PUIo+cua0Kpgu9G3sB02qFJAPx7rQfRT9HKAUz/JH4gu2Ju1xUwcBP2gX18YcAigxHzBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T03:01:01.502064Z","signed_message":"canonical_sha256_bytes"},"source_id":"1401.6517","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5fbc928b94c26409bb57e6fb5bd96fbae5df1760014ef316387aa23ca20666b8","sha256:9e9f443f251106723c06d71c6c09f3929035f7f072c753bf94b4f615016ebec5"],"state_sha256":"ed70f7e28b52fc7aec977983d2ff54ff0c2b295c4d3888ea6c0e6629e1b235db"}