{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:ORBXLSKQTOE6RHUKRBY6WRBWUL","short_pith_number":"pith:ORBXLSKQ","canonical_record":{"source":{"id":"2107.07000","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-14T21:03:53Z","cross_cats_sorted":[],"title_canon_sha256":"d5531a83743b92f67df146e7cb196fcf3cbe82c9e0c15e7a7ddbc4a7b7093225","abstract_canon_sha256":"75baaf423e2eb1bfe7c56f892ff45235123a80a94154d3d9745fed6825423d4e"},"schema_version":"1.0"},"canonical_sha256":"744375c9509b89e89e8a8871eb4436a2cf1aff9ce04388ff31c78872496dac58","source":{"kind":"arxiv","id":"2107.07000","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.07000","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"arxiv_version","alias_value":"2107.07000v1","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.07000","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"pith_short_12","alias_value":"ORBXLSKQTOE6","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"pith_short_16","alias_value":"ORBXLSKQTOE6RHUK","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"pith_short_8","alias_value":"ORBXLSKQ","created_at":"2026-07-05T05:16:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:ORBXLSKQTOE6RHUKRBY6WRBWUL","target":"record","payload":{"canonical_record":{"source":{"id":"2107.07000","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-14T21:03:53Z","cross_cats_sorted":[],"title_canon_sha256":"d5531a83743b92f67df146e7cb196fcf3cbe82c9e0c15e7a7ddbc4a7b7093225","abstract_canon_sha256":"75baaf423e2eb1bfe7c56f892ff45235123a80a94154d3d9745fed6825423d4e"},"schema_version":"1.0"},"canonical_sha256":"744375c9509b89e89e8a8871eb4436a2cf1aff9ce04388ff31c78872496dac58","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:16:49.164391Z","signature_b64":"rbla99TPfGpvo84EqSOxBhNm/BgwVm3bggFI0E2HLTa39P9Ep0H0oP9+eTgkr44zBIosw0uKpj18N4s0zNtfAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"744375c9509b89e89e8a8871eb4436a2cf1aff9ce04388ff31c78872496dac58","last_reissued_at":"2026-07-05T05:16:49.163947Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:16:49.163947Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2107.07000","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:16:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gvqbtPhAj7MRjmrKdTLVxeTItU3vjlEV+B44QPpDMJJtzWysGMQNKmwho1QOYTsVTFYrbKW5NN8CVVCaMFbwCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T19:28:31.617258Z"},"content_sha256":"cff8a5bd3bee904a742362d58a1ae83ab23b85a67b55635c947ba10cb3a0e554","schema_version":"1.0","event_id":"sha256:cff8a5bd3bee904a742362d58a1ae83ab23b85a67b55635c947ba10cb3a0e554"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:ORBXLSKQTOE6RHUKRBY6WRBWUL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sensorimotor-inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Farimah Fazlollahi, Jeremy D. Brown, Katherine J. Kuchenbecker, Neha Thomas","submitted_at":"2021-07-14T21:03:53Z","abstract_excerpt":"The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic tactile reflexes to govern volitional actions in situations that do not allow for constant visual attention. We therefore propose a myoelectric prosthesis system that reflects these concepts to aid manipulation performance without direct vision. To implement this design, we built two fabric-based tactile sensors that measure contact location along the palmar and"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.07000","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/2107.07000/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:16:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bYTpo9DHjhw8ed0h4QQJzW4B9gzMp9Hgbu1BXNYTHMf6guhcMDtjEqrF0WBa1pV0T+TJLbXI3y4y9cSeeut3AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T19:28:31.617647Z"},"content_sha256":"93c8d6d42423353c84eedd17e2e1c65f0565307386fb7f2b65d1b136d76738bf","schema_version":"1.0","event_id":"sha256:93c8d6d42423353c84eedd17e2e1c65f0565307386fb7f2b65d1b136d76738bf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ORBXLSKQTOE6RHUKRBY6WRBWUL/bundle.json","state_url":"https://pith.science/pith/ORBXLSKQTOE6RHUKRBY6WRBWUL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ORBXLSKQTOE6RHUKRBY6WRBWUL/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-08T19:28:31Z","links":{"resolver":"https://pith.science/pith/ORBXLSKQTOE6RHUKRBY6WRBWUL","bundle":"https://pith.science/pith/ORBXLSKQTOE6RHUKRBY6WRBWUL/bundle.json","state":"https://pith.science/pith/ORBXLSKQTOE6RHUKRBY6WRBWUL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ORBXLSKQTOE6RHUKRBY6WRBWUL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ORBXLSKQTOE6RHUKRBY6WRBWUL","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":"75baaf423e2eb1bfe7c56f892ff45235123a80a94154d3d9745fed6825423d4e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-14T21:03:53Z","title_canon_sha256":"d5531a83743b92f67df146e7cb196fcf3cbe82c9e0c15e7a7ddbc4a7b7093225"},"schema_version":"1.0","source":{"id":"2107.07000","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.07000","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"arxiv_version","alias_value":"2107.07000v1","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.07000","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"pith_short_12","alias_value":"ORBXLSKQTOE6","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"pith_short_16","alias_value":"ORBXLSKQTOE6RHUK","created_at":"2026-07-05T05:16:49Z"},{"alias_kind":"pith_short_8","alias_value":"ORBXLSKQ","created_at":"2026-07-05T05:16:49Z"}],"graph_snapshots":[{"event_id":"sha256:93c8d6d42423353c84eedd17e2e1c65f0565307386fb7f2b65d1b136d76738bf","target":"graph","created_at":"2026-07-05T05:16:49Z","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/2107.07000/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic tactile reflexes to govern volitional actions in situations that do not allow for constant visual attention. We therefore propose a myoelectric prosthesis system that reflects these concepts to aid manipulation performance without direct vision. To implement this design, we built two fabric-based tactile sensors that measure contact location along the palmar and","authors_text":"Farimah Fazlollahi, Jeremy D. Brown, Katherine J. Kuchenbecker, Neha Thomas","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-14T21:03:53Z","title":"Sensorimotor-inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.07000","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:cff8a5bd3bee904a742362d58a1ae83ab23b85a67b55635c947ba10cb3a0e554","target":"record","created_at":"2026-07-05T05:16:49Z","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":"75baaf423e2eb1bfe7c56f892ff45235123a80a94154d3d9745fed6825423d4e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-14T21:03:53Z","title_canon_sha256":"d5531a83743b92f67df146e7cb196fcf3cbe82c9e0c15e7a7ddbc4a7b7093225"},"schema_version":"1.0","source":{"id":"2107.07000","kind":"arxiv","version":1}},"canonical_sha256":"744375c9509b89e89e8a8871eb4436a2cf1aff9ce04388ff31c78872496dac58","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"744375c9509b89e89e8a8871eb4436a2cf1aff9ce04388ff31c78872496dac58","first_computed_at":"2026-07-05T05:16:49.163947Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:16:49.163947Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rbla99TPfGpvo84EqSOxBhNm/BgwVm3bggFI0E2HLTa39P9Ep0H0oP9+eTgkr44zBIosw0uKpj18N4s0zNtfAA==","signature_status":"signed_v1","signed_at":"2026-07-05T05:16:49.164391Z","signed_message":"canonical_sha256_bytes"},"source_id":"2107.07000","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cff8a5bd3bee904a742362d58a1ae83ab23b85a67b55635c947ba10cb3a0e554","sha256:93c8d6d42423353c84eedd17e2e1c65f0565307386fb7f2b65d1b136d76738bf"],"state_sha256":"7d88c10f002653e74576f3b7560761ae2e9fa3e244e331596114633514e52843"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qs4+9JG3sovw0a2ZuC31fGmmqfUvhnPaDOjePpvYERXOrcUd4gzxWuEoyh5uyLAXYeNqTULEG/6RHZEkCTvjAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T19:28:31.619860Z","bundle_sha256":"6484262a2a802f5b8a7e482bdf75fe8e762ff886cc263a34d076552451db2dad"}}