{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:QHH5R2RLN22C2XTQWYE2CAKTC7","short_pith_number":"pith:QHH5R2RL","canonical_record":{"source":{"id":"2503.01585","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T14:26:19Z","cross_cats_sorted":[],"title_canon_sha256":"b761a3e44e7203bc6c9b4ac8fafbc08a0eecd2273408e37c2a72299f51b04b0f","abstract_canon_sha256":"0c94cc604b5b2cdccb0fdc72834a9ded7437f11bf3f1aa13e780210bfb89ba6d"},"schema_version":"1.0"},"canonical_sha256":"81cfd8ea2b6eb42d5e70b609a1015317f745dd80b3d923c0817361c7145a9fba","source":{"kind":"arxiv","id":"2503.01585","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.01585","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"arxiv_version","alias_value":"2503.01585v1","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.01585","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"pith_short_12","alias_value":"QHH5R2RLN22C","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"pith_short_16","alias_value":"QHH5R2RLN22C2XTQ","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"pith_short_8","alias_value":"QHH5R2RL","created_at":"2026-07-05T10:23:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:QHH5R2RLN22C2XTQWYE2CAKTC7","target":"record","payload":{"canonical_record":{"source":{"id":"2503.01585","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T14:26:19Z","cross_cats_sorted":[],"title_canon_sha256":"b761a3e44e7203bc6c9b4ac8fafbc08a0eecd2273408e37c2a72299f51b04b0f","abstract_canon_sha256":"0c94cc604b5b2cdccb0fdc72834a9ded7437f11bf3f1aa13e780210bfb89ba6d"},"schema_version":"1.0"},"canonical_sha256":"81cfd8ea2b6eb42d5e70b609a1015317f745dd80b3d923c0817361c7145a9fba","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:23:10.293889Z","signature_b64":"k3G8OPgovfPE9R0N1jGXifcSaJL0McEwtEtqF/7jHe+w+Qh4Wj5lcptXeHfz77CQHb185gjkGpjzjq3CaefqBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"81cfd8ea2b6eb42d5e70b609a1015317f745dd80b3d923c0817361c7145a9fba","last_reissued_at":"2026-07-05T10:23:10.293274Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:23:10.293274Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.01585","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":"2026-07-05T10:23:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eG1v4qr/NSHOTVBE/QkKnppxy4L/2Gu1VB5/NXgoHx7q/A6Ovr6Bf33KPMlUMw0ax96SWWEW5fnK71w1G4dBBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T17:13:01.578741Z"},"content_sha256":"f8d72b8a7bd5218f49f233b45fe6f8aa9ca562441ae81e27c092169e5514e72c","schema_version":"1.0","event_id":"sha256:f8d72b8a7bd5218f49f233b45fe6f8aa9ca562441ae81e27c092169e5514e72c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:QHH5R2RLN22C2XTQWYE2CAKTC7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Soft Everting Prosthetic Hand and Comparison with Existing Body-Powered Terminal Devices","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gayoung Park, Katalin Sch\\\"affer, Margaret M. Coad","submitted_at":"2025-03-03T14:26:19Z","abstract_excerpt":"In this paper, we explore the use of a soft gripper, specifically a soft inverting-everting toroidal hydrostat, as a prosthetic hand. We present a design of the gripper integrated into a body-powered elbow-driven system and evaluate its performance compared to similar body-powered terminal devices: the Kwawu 3D-printed hand and the Hosmer hook. Our experiments highlight advantages of the Everting hand, such as low required cable tension for operation (1.6 N for Everting, 30.0 N for Kwawu, 28.1 N for Hosmer), limited restriction on the elbow angle range, and secure grasping capability (peak pul"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.01585","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/2503.01585/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":"2026-07-05T10:23:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LyaqqN9ALeY83Mjb+OA/BtQxlXrFUYAUKXj80UMdhZM/eX+Hn98eEF4KRoT40mnR9U6HnVPoGCvRQ/39QE76DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T17:13:01.579238Z"},"content_sha256":"0122bf8d87852c7861b0a502e7468106e64106fa6f5052b5ce8455e3ead09458","schema_version":"1.0","event_id":"sha256:0122bf8d87852c7861b0a502e7468106e64106fa6f5052b5ce8455e3ead09458"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QHH5R2RLN22C2XTQWYE2CAKTC7/bundle.json","state_url":"https://pith.science/pith/QHH5R2RLN22C2XTQWYE2CAKTC7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QHH5R2RLN22C2XTQWYE2CAKTC7/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":"2026-08-21T17:13:01Z","links":{"resolver":"https://pith.science/pith/QHH5R2RLN22C2XTQWYE2CAKTC7","bundle":"https://pith.science/pith/QHH5R2RLN22C2XTQWYE2CAKTC7/bundle.json","state":"https://pith.science/pith/QHH5R2RLN22C2XTQWYE2CAKTC7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QHH5R2RLN22C2XTQWYE2CAKTC7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:QHH5R2RLN22C2XTQWYE2CAKTC7","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":"0c94cc604b5b2cdccb0fdc72834a9ded7437f11bf3f1aa13e780210bfb89ba6d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T14:26:19Z","title_canon_sha256":"b761a3e44e7203bc6c9b4ac8fafbc08a0eecd2273408e37c2a72299f51b04b0f"},"schema_version":"1.0","source":{"id":"2503.01585","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.01585","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"arxiv_version","alias_value":"2503.01585v1","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.01585","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"pith_short_12","alias_value":"QHH5R2RLN22C","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"pith_short_16","alias_value":"QHH5R2RLN22C2XTQ","created_at":"2026-07-05T10:23:10Z"},{"alias_kind":"pith_short_8","alias_value":"QHH5R2RL","created_at":"2026-07-05T10:23:10Z"}],"graph_snapshots":[{"event_id":"sha256:0122bf8d87852c7861b0a502e7468106e64106fa6f5052b5ce8455e3ead09458","target":"graph","created_at":"2026-07-05T10:23:10Z","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/2503.01585/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we explore the use of a soft gripper, specifically a soft inverting-everting toroidal hydrostat, as a prosthetic hand. We present a design of the gripper integrated into a body-powered elbow-driven system and evaluate its performance compared to similar body-powered terminal devices: the Kwawu 3D-printed hand and the Hosmer hook. Our experiments highlight advantages of the Everting hand, such as low required cable tension for operation (1.6 N for Everting, 30.0 N for Kwawu, 28.1 N for Hosmer), limited restriction on the elbow angle range, and secure grasping capability (peak pul","authors_text":"Gayoung Park, Katalin Sch\\\"affer, Margaret M. Coad","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T14:26:19Z","title":"Soft Everting Prosthetic Hand and Comparison with Existing Body-Powered Terminal Devices"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.01585","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:f8d72b8a7bd5218f49f233b45fe6f8aa9ca562441ae81e27c092169e5514e72c","target":"record","created_at":"2026-07-05T10:23:10Z","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":"0c94cc604b5b2cdccb0fdc72834a9ded7437f11bf3f1aa13e780210bfb89ba6d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-03T14:26:19Z","title_canon_sha256":"b761a3e44e7203bc6c9b4ac8fafbc08a0eecd2273408e37c2a72299f51b04b0f"},"schema_version":"1.0","source":{"id":"2503.01585","kind":"arxiv","version":1}},"canonical_sha256":"81cfd8ea2b6eb42d5e70b609a1015317f745dd80b3d923c0817361c7145a9fba","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"81cfd8ea2b6eb42d5e70b609a1015317f745dd80b3d923c0817361c7145a9fba","first_computed_at":"2026-07-05T10:23:10.293274Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:23:10.293274Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k3G8OPgovfPE9R0N1jGXifcSaJL0McEwtEtqF/7jHe+w+Qh4Wj5lcptXeHfz77CQHb185gjkGpjzjq3CaefqBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:23:10.293889Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.01585","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f8d72b8a7bd5218f49f233b45fe6f8aa9ca562441ae81e27c092169e5514e72c","sha256:0122bf8d87852c7861b0a502e7468106e64106fa6f5052b5ce8455e3ead09458"],"state_sha256":"654d7b804c2bc699e529cf504adc25027bf556f5e125c56f05282535d1b786fc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"56c3VJRhLL7Ea2DijZcSxzoVUkT3GmJsyKwVl6n0ljMZrhedc1XIHW6+tnhWtJhVqjvoaTvBNBbBaRYIlYriDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T17:13:01.583717Z","bundle_sha256":"b29edc61508613bb167fb19030a48fe7e3eca9ddff22264b9cbeadcad752d02f"}}