{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:OF2TEXWZ3YWWW4P6GMHMIEZRJS","short_pith_number":"pith:OF2TEXWZ","schema_version":"1.0","canonical_sha256":"7175325ed9de2d6b71fe330ec413314c8b9887b712632ecb3927fe465880a2d5","source":{"kind":"arxiv","id":"2003.03586","version":1},"attestation_state":"computed","paper":{"title":"Hybrid Actuator Design for a Gait Augmentation Wearable","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brooke Franchuk, Chaoyang Song, Fang Wan, Xinyao Hu, Zhenglong Sun, Zheng Wang","submitted_at":"2020-03-07T15:00:52Z","abstract_excerpt":"We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\\geq$100 N) at a low operation pressure ($\\leq$50 kPa) for a lower-limb wearable. The external shells constrain the deformation of the soft actuator under fluidic pressurization. This enables us to use latex party balloons as a quick and cheap alternative for initial design investigation. We found that the forces exerted by the soft material deformation are well-captured by the rigid shells, removing the necessity of e"},"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":"2003.03586","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-07T15:00:52Z","cross_cats_sorted":[],"title_canon_sha256":"8cd5a034def573bbd146ee43b05397fb0146680f464b762422fdb20e8cc70cbd","abstract_canon_sha256":"bc67cae8695eb28ca486b6c7c32ebcfedc82820d729eded7d866f07c6bacf710"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:46:22.823841Z","signature_b64":"DmgsLSWChbgHU3vtpGQIAMXNCMV92CQPrIegs2XKLsPzYrgd6+8bB6DVQFCNpzQoCkNyQ0XLUMPN1RHK8JrzDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7175325ed9de2d6b71fe330ec413314c8b9887b712632ecb3927fe465880a2d5","last_reissued_at":"2026-07-05T00:46:22.823391Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:46:22.823391Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Hybrid Actuator Design for a Gait Augmentation Wearable","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brooke Franchuk, Chaoyang Song, Fang Wan, Xinyao Hu, Zhenglong Sun, Zheng Wang","submitted_at":"2020-03-07T15:00:52Z","abstract_excerpt":"We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\\geq$100 N) at a low operation pressure ($\\leq$50 kPa) for a lower-limb wearable. The external shells constrain the deformation of the soft actuator under fluidic pressurization. This enables us to use latex party balloons as a quick and cheap alternative for initial design investigation. We found that the forces exerted by the soft material deformation are well-captured by the rigid shells, removing the necessity of e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.03586","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/2003.03586/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":"2003.03586","created_at":"2026-07-05T00:46:22.823449+00:00"},{"alias_kind":"arxiv_version","alias_value":"2003.03586v1","created_at":"2026-07-05T00:46:22.823449+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.03586","created_at":"2026-07-05T00:46:22.823449+00:00"},{"alias_kind":"pith_short_12","alias_value":"OF2TEXWZ3YWW","created_at":"2026-07-05T00:46:22.823449+00:00"},{"alias_kind":"pith_short_16","alias_value":"OF2TEXWZ3YWWW4P6","created_at":"2026-07-05T00:46:22.823449+00:00"},{"alias_kind":"pith_short_8","alias_value":"OF2TEXWZ","created_at":"2026-07-05T00:46:22.823449+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/OF2TEXWZ3YWWW4P6GMHMIEZRJS","json":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS.json","graph_json":"https://pith.science/api/pith-number/OF2TEXWZ3YWWW4P6GMHMIEZRJS/graph.json","events_json":"https://pith.science/api/pith-number/OF2TEXWZ3YWWW4P6GMHMIEZRJS/events.json","paper":"https://pith.science/paper/OF2TEXWZ"},"agent_actions":{"view_html":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS","download_json":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS.json","view_paper":"https://pith.science/paper/OF2TEXWZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2003.03586&json=true","fetch_graph":"https://pith.science/api/pith-number/OF2TEXWZ3YWWW4P6GMHMIEZRJS/graph.json","fetch_events":"https://pith.science/api/pith-number/OF2TEXWZ3YWWW4P6GMHMIEZRJS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS/action/storage_attestation","attest_author":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS/action/author_attestation","sign_citation":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS/action/citation_signature","submit_replication":"https://pith.science/pith/OF2TEXWZ3YWWW4P6GMHMIEZRJS/action/replication_record"}},"created_at":"2026-07-05T00:46:22.823449+00:00","updated_at":"2026-07-05T00:46:22.823449+00:00"}