{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:PMOMFK6STMG3Y4GQJWO3OJTAYI","short_pith_number":"pith:PMOMFK6S","canonical_record":{"source":{"id":"2606.17418","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T01:58:25Z","cross_cats_sorted":[],"title_canon_sha256":"166af30e1dc2fe7d29fcdb1e7ec05784bb2763253b2af6dfeb6eece47d1c2484","abstract_canon_sha256":"80927779971ac84a89ad55cd0e3ed411713ab41d7274d497f9b1665a1e105c98"},"schema_version":"1.0"},"canonical_sha256":"7b1cc2abd29b0dbc70d04d9db72660c2304a252d2277261e5fd7fb20a21703a5","source":{"kind":"arxiv","id":"2606.17418","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.17418","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"arxiv_version","alias_value":"2606.17418v1","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.17418","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"pith_short_12","alias_value":"PMOMFK6STMG3","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"pith_short_16","alias_value":"PMOMFK6STMG3Y4GQ","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"pith_short_8","alias_value":"PMOMFK6S","created_at":"2026-06-19T16:10:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:PMOMFK6STMG3Y4GQJWO3OJTAYI","target":"record","payload":{"canonical_record":{"source":{"id":"2606.17418","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T01:58:25Z","cross_cats_sorted":[],"title_canon_sha256":"166af30e1dc2fe7d29fcdb1e7ec05784bb2763253b2af6dfeb6eece47d1c2484","abstract_canon_sha256":"80927779971ac84a89ad55cd0e3ed411713ab41d7274d497f9b1665a1e105c98"},"schema_version":"1.0"},"canonical_sha256":"7b1cc2abd29b0dbc70d04d9db72660c2304a252d2277261e5fd7fb20a21703a5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:10:12.324848Z","signature_b64":"1ilNTyiCU/apy4WTgpygliqfi8QQhWq4GQRaVM4Wsc5jv3dgc+L8VQjRExX/v6lWkoj+Pn0JXlg16nXzWlypBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7b1cc2abd29b0dbc70d04d9db72660c2304a252d2277261e5fd7fb20a21703a5","last_reissued_at":"2026-06-19T16:10:12.324504Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:10:12.324504Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.17418","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":"2026-06-19T16:10:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wKb2BRmNkRnT4K+QoM3FpeRT4ezQJEvaTRub3L2HepSoywt3xxzG9uFT8ZlsmotAgbmSgp9C0XTLp5dcLj6DCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T02:36:29.220768Z"},"content_sha256":"31a86e247a82a8d7de85666c1ed90cc44f379a398b1eded9a17088b954035114","schema_version":"1.0","event_id":"sha256:31a86e247a82a8d7de85666c1ed90cc44f379a398b1eded9a17088b954035114"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:PMOMFK6STMG3Y4GQJWO3OJTAYI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hao Wu, Huixu Dong, Jian Liu, Jianshu Zhou, Jihao Li, Yanzhe Wang, Yu Feng","submitted_at":"2026-06-16T01:58:25Z","abstract_excerpt":"Dexterous robotic hands face a longstanding trade-off among dexterity, compactness, and affordability. Particularly, high-degree-of-freedom designs typically demand complex actuation and transmission, hindering integration into human-scale forms. To address these challenges, this work presents a compact, low-cost linkage-driven anthropomorphic hand that achieves high dexterity, structural integration, and human-hand-like functionality. The hand integrates 20 joints driven by 16 independent actuators, with all actuation, sensing, and transmission components compactly embedded within a human-han"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.17418","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/2606.17418/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":"2026-06-19T16:10:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X1/gMLMPG3ApCfuSOMosmgAv4vRZ4D3HW5FKUcERY3M+3ZUCIFh+N4Y4AO+6nRRgrNdAqFHNQH0V7KDgZJXsBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T02:36:29.221373Z"},"content_sha256":"e93d0a6dd16ab7f43f7ae4de5c6c4b38a3772398f5002ce585bc550d7ec2a911","schema_version":"1.0","event_id":"sha256:e93d0a6dd16ab7f43f7ae4de5c6c4b38a3772398f5002ce585bc550d7ec2a911"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/PMOMFK6STMG3Y4GQJWO3OJTAYI/bundle.json","state_url":"https://pith.science/pith/PMOMFK6STMG3Y4GQJWO3OJTAYI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/PMOMFK6STMG3Y4GQJWO3OJTAYI/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":"2026-08-13T02:36:29Z","links":{"resolver":"https://pith.science/pith/PMOMFK6STMG3Y4GQJWO3OJTAYI","bundle":"https://pith.science/pith/PMOMFK6STMG3Y4GQJWO3OJTAYI/bundle.json","state":"https://pith.science/pith/PMOMFK6STMG3Y4GQJWO3OJTAYI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/PMOMFK6STMG3Y4GQJWO3OJTAYI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:PMOMFK6STMG3Y4GQJWO3OJTAYI","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":"80927779971ac84a89ad55cd0e3ed411713ab41d7274d497f9b1665a1e105c98","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T01:58:25Z","title_canon_sha256":"166af30e1dc2fe7d29fcdb1e7ec05784bb2763253b2af6dfeb6eece47d1c2484"},"schema_version":"1.0","source":{"id":"2606.17418","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.17418","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"arxiv_version","alias_value":"2606.17418v1","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.17418","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"pith_short_12","alias_value":"PMOMFK6STMG3","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"pith_short_16","alias_value":"PMOMFK6STMG3Y4GQ","created_at":"2026-06-19T16:10:12Z"},{"alias_kind":"pith_short_8","alias_value":"PMOMFK6S","created_at":"2026-06-19T16:10:12Z"}],"graph_snapshots":[{"event_id":"sha256:e93d0a6dd16ab7f43f7ae4de5c6c4b38a3772398f5002ce585bc550d7ec2a911","target":"graph","created_at":"2026-06-19T16:10:12Z","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/2606.17418/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Dexterous robotic hands face a longstanding trade-off among dexterity, compactness, and affordability. Particularly, high-degree-of-freedom designs typically demand complex actuation and transmission, hindering integration into human-scale forms. To address these challenges, this work presents a compact, low-cost linkage-driven anthropomorphic hand that achieves high dexterity, structural integration, and human-hand-like functionality. The hand integrates 20 joints driven by 16 independent actuators, with all actuation, sensing, and transmission components compactly embedded within a human-han","authors_text":"Hao Wu, Huixu Dong, Jian Liu, Jianshu Zhou, Jihao Li, Yanzhe Wang, Yu Feng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T01:58:25Z","title":"DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.17418","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":"sha256:31a86e247a82a8d7de85666c1ed90cc44f379a398b1eded9a17088b954035114","target":"record","created_at":"2026-06-19T16:10:12Z","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":"80927779971ac84a89ad55cd0e3ed411713ab41d7274d497f9b1665a1e105c98","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-16T01:58:25Z","title_canon_sha256":"166af30e1dc2fe7d29fcdb1e7ec05784bb2763253b2af6dfeb6eece47d1c2484"},"schema_version":"1.0","source":{"id":"2606.17418","kind":"arxiv","version":1}},"canonical_sha256":"7b1cc2abd29b0dbc70d04d9db72660c2304a252d2277261e5fd7fb20a21703a5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7b1cc2abd29b0dbc70d04d9db72660c2304a252d2277261e5fd7fb20a21703a5","first_computed_at":"2026-06-19T16:10:12.324504Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:10:12.324504Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1ilNTyiCU/apy4WTgpygliqfi8QQhWq4GQRaVM4Wsc5jv3dgc+L8VQjRExX/v6lWkoj+Pn0JXlg16nXzWlypBg==","signature_status":"signed_v1","signed_at":"2026-06-19T16:10:12.324848Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.17418","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:31a86e247a82a8d7de85666c1ed90cc44f379a398b1eded9a17088b954035114","sha256:e93d0a6dd16ab7f43f7ae4de5c6c4b38a3772398f5002ce585bc550d7ec2a911"],"state_sha256":"70505fc7aaef5a2eb374ad20d95f525327bcca523ab8b736130e85dbe7cbef99"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u3X6u3WWK2HBO3JdP08eBEl4Sz4mk2tmqTpcnPbDRXVPGphMamw0BH5eOJIROpdvL2XHhk4e0BU7sKf6b7doDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T02:36:29.224999Z","bundle_sha256":"64ad114f9e8964076b0137ae2f894e2d69f5454dd4690c097529c0d191509923"}}