Pith Number

pith:QF6IDSVF

pith:2025:QF6IDSVFJ2K3OZDNIQBCPH3Z6Q

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SCU-Hand with Integrated Single-Sheet Valve: A Funnel-Shaped Robotic Hand for Milligram-Scale Powder Handling

Cristian Camilo Beltran-Hernandez, Kanta Ono, Kazutoshi Tanaka, Masashi Hamaya, Tomoya Takahashi, Yoshitaka Ushiku, Yuki Kuroda, Yusaku Nakajima

A soft conical robotic hand with a single-sheet valve at its tip dispenses milligram-scale powders accurately using adaptive flow modeling.

arxiv:2512.07091 v2 · 2025-12-08 · cs.RO

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Claims

C1strongest claim

Experimental evaluations with glass beads, monosodium glutamate, and titanium dioxide demonstrated that 80% of the trials achieved an error within -2 mg to +2 mg, and the maximum error observed was approximately 20 mg across a target range of 20 mg to 3 g. In addition, by incorporating flow prediction models commonly used for hoppers and performing online parameter identification, the system is able to adapt to variations in powder dynamics. Compared to direct PID control, the proposed model-based control significantly improved both accuracy and convergence speed.

C2weakest assumption

The assumption that a hopper-style powder flow model combined with online parameter identification will reliably adapt to the complex and varying flow dynamics of a broad range of laboratory powders without frequent clogging or valve failure.

C3one line summary

A funnel-shaped soft robotic hand with an integrated valve enables accurate milligram-scale powder dispensing via model-based feedback control and online parameter adaptation.

References

29 extracted · 29 resolved · 0 Pith anchors

[1] Human versus robots in the discovery and crystallization of gigantic polyoxometalates, 2017

[2] M. Christensen, L. P. Yunker, P. Shiri, T. Zepel, P. L. Prieto, S. Grunert, F. Bork, and J. E. Hein, “Automation isn’t automatic,”Chemical science, vol. 12, no. 47, pp. 15 473–15 490, 2021 2021

[3] Learning robotic pow- der weighing from simulation for laboratory automation, 2023

[4] Accelerated discovery of perovskite solid solutions through automated materials synthesis and characteri- zation, 2024

[5] Autonomous robotic experimentation system for powder x-ray diffraction, 2024

Formal links

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Receipt and verification

First computed	2026-05-18T03:09:32.875018Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

817c81caa54e95b7646d4402279f79f42a2a34252c87c45c6da050aa83aaa264

Aliases

arxiv: 2512.07091 · arxiv_version: 2512.07091v2 · doi: 10.48550/arxiv.2512.07091 · pith_short_12: QF6IDSVFJ2K3 · pith_short_16: QF6IDSVFJ2K3OZDN · pith_short_8: QF6IDSVF

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/QF6IDSVFJ2K3OZDNIQBCPH3Z6Q \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 817c81caa54e95b7646d4402279f79f42a2a34252c87c45c6da050aa83aaa264

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3043b5d582d0677c522c59d34a943ff8f5d9955bcdabcbb7e3f11860539a198b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-12-08T01:57:29Z",
    "title_canon_sha256": "b3007d3ac73f6bc0bc34800ba7499c9f1bb597585348f6c91421c99a519b4833"
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  "source": {
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    "kind": "arxiv",
    "version": 2
  }
}