{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:MIMLDFH6CG4BJYNWWHT6GBYFCK","short_pith_number":"pith:MIMLDFH6","schema_version":"1.0","canonical_sha256":"6218b194fe11b814e1b6b1e7e3070512b596d242b5a1dd1f6187d9cf92f39921","source":{"kind":"arxiv","id":"2606.20193","version":1},"attestation_state":"computed","paper":{"title":"Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andreas Zell, Boya Zhang, Georg Martius","submitted_at":"2026-06-18T13:07:04Z","abstract_excerpt":"Parallel-jaw grippers are the default manipulator choice in robotics because they are simple, robust, and inexpensive. Their limited in-hand mobility, however, often forces large arm motions and restricts dexterous manipulation in confined workspaces. We present a parallel-gripper upgrade: a double-soft-belt-based finger module that preserves standard opening/closing while adding three in-hand degrees of freedom (DoF): translation, pitch, and roll. The mechanism is deliberately kept simple and engineered for inexpensive manufacturing and straightforward integration, preserving the reliability "},"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":"2606.20193","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T13:07:04Z","cross_cats_sorted":[],"title_canon_sha256":"319e9817936d309a028202abb0d2c6eb49ce5fde872f979584848bcae78fa0fc","abstract_canon_sha256":"42386b3fc9f035963b279f970b1fe189920dbd57270a364213f4d6f3f669e4c6"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:13:05.265749Z","signature_b64":"TReVeXF1uZNY+xY1q0+iFhIVVAk2cZ/zbypV2q4Il+NDjZGd4NBuj3BCEvJ/qUWKdx4S7/OR6UEn3j30gvYIAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6218b194fe11b814e1b6b1e7e3070512b596d242b5a1dd1f6187d9cf92f39921","last_reissued_at":"2026-06-19T16:13:05.265347Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:13:05.265347Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andreas Zell, Boya Zhang, Georg Martius","submitted_at":"2026-06-18T13:07:04Z","abstract_excerpt":"Parallel-jaw grippers are the default manipulator choice in robotics because they are simple, robust, and inexpensive. Their limited in-hand mobility, however, often forces large arm motions and restricts dexterous manipulation in confined workspaces. We present a parallel-gripper upgrade: a double-soft-belt-based finger module that preserves standard opening/closing while adding three in-hand degrees of freedom (DoF): translation, pitch, and roll. The mechanism is deliberately kept simple and engineered for inexpensive manufacturing and straightforward integration, preserving the reliability "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.20193","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.20193/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.20193","created_at":"2026-06-19T16:13:05.265408+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.20193v1","created_at":"2026-06-19T16:13:05.265408+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.20193","created_at":"2026-06-19T16:13:05.265408+00:00"},{"alias_kind":"pith_short_12","alias_value":"MIMLDFH6CG4B","created_at":"2026-06-19T16:13:05.265408+00:00"},{"alias_kind":"pith_short_16","alias_value":"MIMLDFH6CG4BJYNW","created_at":"2026-06-19T16:13:05.265408+00:00"},{"alias_kind":"pith_short_8","alias_value":"MIMLDFH6","created_at":"2026-06-19T16:13:05.265408+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/MIMLDFH6CG4BJYNWWHT6GBYFCK","json":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK.json","graph_json":"https://pith.science/api/pith-number/MIMLDFH6CG4BJYNWWHT6GBYFCK/graph.json","events_json":"https://pith.science/api/pith-number/MIMLDFH6CG4BJYNWWHT6GBYFCK/events.json","paper":"https://pith.science/paper/MIMLDFH6"},"agent_actions":{"view_html":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK","download_json":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK.json","view_paper":"https://pith.science/paper/MIMLDFH6","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.20193&json=true","fetch_graph":"https://pith.science/api/pith-number/MIMLDFH6CG4BJYNWWHT6GBYFCK/graph.json","fetch_events":"https://pith.science/api/pith-number/MIMLDFH6CG4BJYNWWHT6GBYFCK/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK/action/timestamp_anchor","attest_storage":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK/action/storage_attestation","attest_author":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK/action/author_attestation","sign_citation":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK/action/citation_signature","submit_replication":"https://pith.science/pith/MIMLDFH6CG4BJYNWWHT6GBYFCK/action/replication_record"}},"created_at":"2026-06-19T16:13:05.265408+00:00","updated_at":"2026-06-19T16:13:05.265408+00:00"}