{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:P7GSNHQMIB74V432ZSL3UZQIPU","short_pith_number":"pith:P7GSNHQM","schema_version":"1.0","canonical_sha256":"7fcd269e0c407fcaf37acc97ba66087d1d1d949655edd147b35c2cbc02c56769","source":{"kind":"arxiv","id":"1903.09749","version":1},"attestation_state":"computed","paper":{"title":"Passivity guaranteed stiffness control with multiple frequency band specifications for a cable-driven series elastic actuator","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","math.DS","math.OC"],"primary_cat":"cs.RO","authors_text":"Ningbo Yu, Wulin Zou, Yubo Sun","submitted_at":"2019-03-23T03:17:30Z","abstract_excerpt":"Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the stiffness control performance of a cable-driven SEA. Existing impedance controllers were designed within the full frequency domain, though human-robot interaction commonly falls in the low frequency range. We enhance the stiffness rendering performance under formulated constraints of passivity, actuator limitation, disturbance attenuation, noise rejection at their"},"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":"1903.09749","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-03-23T03:17:30Z","cross_cats_sorted":["cs.SY","math.DS","math.OC"],"title_canon_sha256":"46bb92d842d63da0116138c3ac300986625243b7d4ac3c380dcec2125afe0d6a","abstract_canon_sha256":"4b68cdc6a6bcae5ff230f8d64d4740656a1fd37950aedf7722c20f18e8e8019e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:49:38.418838Z","signature_b64":"M5dJxTiNBuI6kjQQrydRj9kj2bJrGrjAbd6QMZokSAm9wTUbqCaepqlRItNDCUYGaBW1CAbUhg8v8ASvXPS4Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7fcd269e0c407fcaf37acc97ba66087d1d1d949655edd147b35c2cbc02c56769","last_reissued_at":"2026-05-17T23:49:38.418236Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:49:38.418236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Passivity guaranteed stiffness control with multiple frequency band specifications for a cable-driven series elastic actuator","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","math.DS","math.OC"],"primary_cat":"cs.RO","authors_text":"Ningbo Yu, Wulin Zou, Yubo Sun","submitted_at":"2019-03-23T03:17:30Z","abstract_excerpt":"Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the stiffness control performance of a cable-driven SEA. Existing impedance controllers were designed within the full frequency domain, though human-robot interaction commonly falls in the low frequency range. We enhance the stiffness rendering performance under formulated constraints of passivity, actuator limitation, disturbance attenuation, noise rejection at their"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09749","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":""},"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":"1903.09749","created_at":"2026-05-17T23:49:38.418359+00:00"},{"alias_kind":"arxiv_version","alias_value":"1903.09749v1","created_at":"2026-05-17T23:49:38.418359+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.09749","created_at":"2026-05-17T23:49:38.418359+00:00"},{"alias_kind":"pith_short_12","alias_value":"P7GSNHQMIB74","created_at":"2026-05-18T12:33:24.271573+00:00"},{"alias_kind":"pith_short_16","alias_value":"P7GSNHQMIB74V432","created_at":"2026-05-18T12:33:24.271573+00:00"},{"alias_kind":"pith_short_8","alias_value":"P7GSNHQM","created_at":"2026-05-18T12:33:24.271573+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/P7GSNHQMIB74V432ZSL3UZQIPU","json":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU.json","graph_json":"https://pith.science/api/pith-number/P7GSNHQMIB74V432ZSL3UZQIPU/graph.json","events_json":"https://pith.science/api/pith-number/P7GSNHQMIB74V432ZSL3UZQIPU/events.json","paper":"https://pith.science/paper/P7GSNHQM"},"agent_actions":{"view_html":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU","download_json":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU.json","view_paper":"https://pith.science/paper/P7GSNHQM","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1903.09749&json=true","fetch_graph":"https://pith.science/api/pith-number/P7GSNHQMIB74V432ZSL3UZQIPU/graph.json","fetch_events":"https://pith.science/api/pith-number/P7GSNHQMIB74V432ZSL3UZQIPU/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU/action/timestamp_anchor","attest_storage":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU/action/storage_attestation","attest_author":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU/action/author_attestation","sign_citation":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU/action/citation_signature","submit_replication":"https://pith.science/pith/P7GSNHQMIB74V432ZSL3UZQIPU/action/replication_record"}},"created_at":"2026-05-17T23:49:38.418359+00:00","updated_at":"2026-05-17T23:49:38.418359+00:00"}