{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MV6BS6AWISJ5N5XAMCBCHFO56O","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":"8f893ae8dbef8dac6e6c78b3cbfc0bdf7b0f499e804d18b0b649957ff295ed41","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-27T16:50:42Z","title_canon_sha256":"674708663e1feeb3d4fa6a72319dfdaae9fc7b87d868fdba4a4dc9392f0efad1"},"schema_version":"1.0","source":{"id":"2411.18507","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.18507","created_at":"2026-07-05T11:39:46Z"},{"alias_kind":"arxiv_version","alias_value":"2411.18507v2","created_at":"2026-07-05T11:39:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.18507","created_at":"2026-07-05T11:39:46Z"},{"alias_kind":"pith_short_12","alias_value":"MV6BS6AWISJ5","created_at":"2026-07-05T11:39:46Z"},{"alias_kind":"pith_short_16","alias_value":"MV6BS6AWISJ5N5XA","created_at":"2026-07-05T11:39:46Z"},{"alias_kind":"pith_short_8","alias_value":"MV6BS6AW","created_at":"2026-07-05T11:39:46Z"}],"graph_snapshots":[{"event_id":"sha256:1f322e5c21dee67684df096259b6a68a8c9216e6d2549b363f945cc2ab3f7260","target":"graph","created_at":"2026-07-05T11:39:46Z","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/2411.18507/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a piezoelectric sensing framework for stiffness estimation at first contact during pinch grasps, addressing the limitations of traditional force-based methods. Inspired by human skin, a multimodal tactile sensor that captures vibrational and force data is developed and integrated into a prosthetic hand's fingertip. Machine learning models, including support vector m","authors_text":"Anway S. Pimpalkar, Ariel Slepyan, Nitish V. Thakor","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-27T16:50:42Z","title":"At First Contact: Stiffness Estimation Using Vibrational Information for Prosthetic Grasp Modulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.18507","kind":"arxiv","version":2},"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":"sha256:8c4d88ed54fda8b0942adf6427c107dcc99a2f9cbbe7678dd1fe600e69ed9c6a","target":"record","created_at":"2026-07-05T11:39:46Z","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":"8f893ae8dbef8dac6e6c78b3cbfc0bdf7b0f499e804d18b0b649957ff295ed41","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-27T16:50:42Z","title_canon_sha256":"674708663e1feeb3d4fa6a72319dfdaae9fc7b87d868fdba4a4dc9392f0efad1"},"schema_version":"1.0","source":{"id":"2411.18507","kind":"arxiv","version":2}},"canonical_sha256":"657c1978164493d6f6e060822395ddf3898945637840a98fa8e39f8ca2e712d9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"657c1978164493d6f6e060822395ddf3898945637840a98fa8e39f8ca2e712d9","first_computed_at":"2026-07-05T11:39:46.054404Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:39:46.054404Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XrXSSA/MZ3R8Ev2+EnYDWNEsNZAqe/hazzk8kLyb3/fmTx8+ABX/BALMLuCcr7jqPAKKYPKTmANgu9fBPHwcAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:39:46.054894Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.18507","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8c4d88ed54fda8b0942adf6427c107dcc99a2f9cbbe7678dd1fe600e69ed9c6a","sha256:1f322e5c21dee67684df096259b6a68a8c9216e6d2549b363f945cc2ab3f7260"],"state_sha256":"51032517d9c8b1bed308541c438aced77326b1daa90870399b90459336212e7e"}