{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:MHRMA2V4Q4WQ35FIDCECU2FSSK","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":"f7d8fe568bffa83fe7b725d7e76fdc199ca376c265aaf290f0defd41d7f87f26","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-01-13T11:14:05Z","title_canon_sha256":"8836e9d3a9da38bf2ac8f91f5a7dd41d77367e0af47836e19709f31d8ffbe3f0"},"schema_version":"1.0","source":{"id":"2501.07216","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.07216","created_at":"2026-07-05T10:00:17Z"},{"alias_kind":"arxiv_version","alias_value":"2501.07216v1","created_at":"2026-07-05T10:00:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.07216","created_at":"2026-07-05T10:00:17Z"},{"alias_kind":"pith_short_12","alias_value":"MHRMA2V4Q4WQ","created_at":"2026-07-05T10:00:17Z"},{"alias_kind":"pith_short_16","alias_value":"MHRMA2V4Q4WQ35FI","created_at":"2026-07-05T10:00:17Z"},{"alias_kind":"pith_short_8","alias_value":"MHRMA2V4","created_at":"2026-07-05T10:00:17Z"}],"graph_snapshots":[{"event_id":"sha256:bc8d047f27be3f2e16257740099ffb80f5f8e8484d9a408d1eb98241d8d78185","target":"graph","created_at":"2026-07-05T10:00:17Z","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/2501.07216/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Soft pneumatic fingers are of great research interest. However, their significant potential is limited as most of them can generate only one motion, mostly bending. The conventional design of soft fingers does not allow them to switch to another motion mode. In this paper, we developed a novel multi-modal and single-actuated soft finger where its motion mode is switched by changing the finger's temperature. Our soft finger is capable of switching between three distinctive motion modes: bending, twisting, and extension-in approximately five seconds. We carried out a detailed experimental study ","authors_text":"Kensuke Harada, Prashant Kumar, Weiwei Wan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-01-13T11:14:05Z","title":"Temperature Driven Multi-modal/Single-actuated Soft Finger"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.07216","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":"sha256:2f8f3096dd93028bf777f2a2d424c584264eef88ee298bdc35aecbb15cd10521","target":"record","created_at":"2026-07-05T10:00:17Z","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":"f7d8fe568bffa83fe7b725d7e76fdc199ca376c265aaf290f0defd41d7f87f26","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-01-13T11:14:05Z","title_canon_sha256":"8836e9d3a9da38bf2ac8f91f5a7dd41d77367e0af47836e19709f31d8ffbe3f0"},"schema_version":"1.0","source":{"id":"2501.07216","kind":"arxiv","version":1}},"canonical_sha256":"61e2c06abc872d0df4a818882a68b292bea258ce9e96fa927fc4a103fe13daa0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"61e2c06abc872d0df4a818882a68b292bea258ce9e96fa927fc4a103fe13daa0","first_computed_at":"2026-07-05T10:00:17.410296Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:00:17.410296Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"l5oCZeias2UunmgwbPJfIpP4bTb+3B3RGMKVXK9RWWneaR8Blv4Fu18q4ULkvAmHL5ABTorJMvOnsr6Zydi6Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:00:17.410740Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.07216","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2f8f3096dd93028bf777f2a2d424c584264eef88ee298bdc35aecbb15cd10521","sha256:bc8d047f27be3f2e16257740099ffb80f5f8e8484d9a408d1eb98241d8d78185"],"state_sha256":"99e793733d86b2a70d2f8686a8cc05f9ee8369890f45645bf6f109546294217a"}