{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:RWAZJQZNFKDB7SIHRSEAQ32BEV","short_pith_number":"pith:RWAZJQZN","schema_version":"1.0","canonical_sha256":"8d8194c32d2a861fc9078c88086f41254c0e2ef61f4303d8efcaba1e1e0def09","source":{"kind":"arxiv","id":"2212.13007","version":1},"attestation_state":"computed","paper":{"title":"Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bingheng Jiang, Boris Belousov, Jacinto Colan, Jan Peters, Kay Hansel, Shukrullo Nazirjonov, Tadayoshi Aoyama, Yaonan Zhu, Yasuhisa Hasegawa","submitted_at":"2022-12-26T03:59:50Z","abstract_excerpt":"Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and"},"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":"2212.13007","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-26T03:59:50Z","cross_cats_sorted":[],"title_canon_sha256":"e75fa1fd8d09d835d9833060658d07aa1959e62a0ddd3e71e8be806eb3b4932c","abstract_canon_sha256":"5296174a46b2f04b809c6254d7c94c8d8fb6c73bc0216eb322365787682f2c3e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:28:15.684606Z","signature_b64":"t9NBdEaOECqDm7ZMdL3ltxgFBFXx8HR7wilmFN1xaGWwFlac+1NkaSeQfFezKBJvMopoHORNhgXHKxeaUeYyCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8d8194c32d2a861fc9078c88086f41254c0e2ef61f4303d8efcaba1e1e0def09","last_reissued_at":"2026-07-05T05:28:15.684109Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:28:15.684109Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bingheng Jiang, Boris Belousov, Jacinto Colan, Jan Peters, Kay Hansel, Shukrullo Nazirjonov, Tadayoshi Aoyama, Yaonan Zhu, Yasuhisa Hasegawa","submitted_at":"2022-12-26T03:59:50Z","abstract_excerpt":"Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.13007","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/2212.13007/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2212.13007","created_at":"2026-07-05T05:28:15.684167+00:00"},{"alias_kind":"arxiv_version","alias_value":"2212.13007v1","created_at":"2026-07-05T05:28:15.684167+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.13007","created_at":"2026-07-05T05:28:15.684167+00:00"},{"alias_kind":"pith_short_12","alias_value":"RWAZJQZNFKDB","created_at":"2026-07-05T05:28:15.684167+00:00"},{"alias_kind":"pith_short_16","alias_value":"RWAZJQZNFKDB7SIH","created_at":"2026-07-05T05:28:15.684167+00:00"},{"alias_kind":"pith_short_8","alias_value":"RWAZJQZN","created_at":"2026-07-05T05:28:15.684167+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/RWAZJQZNFKDB7SIHRSEAQ32BEV","json":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV.json","graph_json":"https://pith.science/api/pith-number/RWAZJQZNFKDB7SIHRSEAQ32BEV/graph.json","events_json":"https://pith.science/api/pith-number/RWAZJQZNFKDB7SIHRSEAQ32BEV/events.json","paper":"https://pith.science/paper/RWAZJQZN"},"agent_actions":{"view_html":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV","download_json":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV.json","view_paper":"https://pith.science/paper/RWAZJQZN","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2212.13007&json=true","fetch_graph":"https://pith.science/api/pith-number/RWAZJQZNFKDB7SIHRSEAQ32BEV/graph.json","fetch_events":"https://pith.science/api/pith-number/RWAZJQZNFKDB7SIHRSEAQ32BEV/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV/action/timestamp_anchor","attest_storage":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV/action/storage_attestation","attest_author":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV/action/author_attestation","sign_citation":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV/action/citation_signature","submit_replication":"https://pith.science/pith/RWAZJQZNFKDB7SIHRSEAQ32BEV/action/replication_record"}},"created_at":"2026-07-05T05:28:15.684167+00:00","updated_at":"2026-07-05T05:28:15.684167+00:00"}