{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:SOZBEI3DJPIHQZGV7AFWEVBEG7","short_pith_number":"pith:SOZBEI3D","canonical_record":{"source":{"id":"2506.11570","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T08:27:20Z","cross_cats_sorted":[],"title_canon_sha256":"8a9d87f334fe0d71478ae969b30e6408c5701cc872a48a2525fdcec8694122c5","abstract_canon_sha256":"6ca8c5925173097ff04323337bacf075dcd5aa836b72a236c04d76c4d0ed679a"},"schema_version":"1.0"},"canonical_sha256":"93b21223634bd07864d5f80b62542437d403dcc464dc32f58063270260f799a9","source":{"kind":"arxiv","id":"2506.11570","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.11570","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"arxiv_version","alias_value":"2506.11570v1","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.11570","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"pith_short_12","alias_value":"SOZBEI3DJPIH","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"pith_short_16","alias_value":"SOZBEI3DJPIHQZGV","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"pith_short_8","alias_value":"SOZBEI3D","created_at":"2026-07-05T11:23:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:SOZBEI3DJPIHQZGV7AFWEVBEG7","target":"record","payload":{"canonical_record":{"source":{"id":"2506.11570","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T08:27:20Z","cross_cats_sorted":[],"title_canon_sha256":"8a9d87f334fe0d71478ae969b30e6408c5701cc872a48a2525fdcec8694122c5","abstract_canon_sha256":"6ca8c5925173097ff04323337bacf075dcd5aa836b72a236c04d76c4d0ed679a"},"schema_version":"1.0"},"canonical_sha256":"93b21223634bd07864d5f80b62542437d403dcc464dc32f58063270260f799a9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:23:29.945706Z","signature_b64":"c60lLGG/kW/PBW7SZu1g9wzfyY0W1/2um+dvzvpXOOWw61lJwMlEjebDKCVqCceAiDmco1MrvWxoGjNA1MwNCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"93b21223634bd07864d5f80b62542437d403dcc464dc32f58063270260f799a9","last_reissued_at":"2026-07-05T11:23:29.945183Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:23:29.945183Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.11570","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":"2026-07-05T11:23:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kCCp16NP1niJ1jlIE+3m9R3RcBDZbEtZGv5GbQcbGwFCUYQPnxuQ97AA5pIDvYlWrMT7WfkMba2Q/dbpILqYCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T23:18:47.314315Z"},"content_sha256":"e525006c526fa9f324d787edb9a9340a0711fed54e9bd8a9c2a1a1b27e3dc478","schema_version":"1.0","event_id":"sha256:e525006c526fa9f324d787edb9a9340a0711fed54e9bd8a9c2a1a1b27e3dc478"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:SOZBEI3DJPIHQZGV7AFWEVBEG7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Construction of a Multiple-DOF Under-actuated Gripper with Force-Sensing via Deep Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Guodong Lu, Huixu Dong, I-Ming Chen, Jihao Li, Keqi Zhu","submitted_at":"2025-06-13T08:27:20Z","abstract_excerpt":"We present a novel under-actuated gripper with two 3-joint fingers, which realizes force feedback control by the deep learning technique- Long Short-Term Memory (LSTM) model, without any force sensor. First, a five-linkage mechanism stacked by double four-linkages is designed as a finger to automatically achieve the transformation between parallel and enveloping grasping modes. This enables the creation of a low-cost under-actuated gripper comprising a single actuator and two 3-phalange fingers. Second, we devise theoretical models of kinematics and power transmission based on the proposed gri"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.11570","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/2506.11570/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":"2026-07-05T11:23:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QFU1K5pPMsrrDtP17OWzoLt5JR71g13UcsKqTZAK+W43cEReKHIONOot9wC5VMLS+FaYW3JpDqk5tiDFEQa0Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T23:18:47.315303Z"},"content_sha256":"a08f165d0e435543f0bbb2e94f2e9b014c4b0f084b2125e9e4bf49ae369681ac","schema_version":"1.0","event_id":"sha256:a08f165d0e435543f0bbb2e94f2e9b014c4b0f084b2125e9e4bf49ae369681ac"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SOZBEI3DJPIHQZGV7AFWEVBEG7/bundle.json","state_url":"https://pith.science/pith/SOZBEI3DJPIHQZGV7AFWEVBEG7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SOZBEI3DJPIHQZGV7AFWEVBEG7/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":"2026-08-10T23:18:47Z","links":{"resolver":"https://pith.science/pith/SOZBEI3DJPIHQZGV7AFWEVBEG7","bundle":"https://pith.science/pith/SOZBEI3DJPIHQZGV7AFWEVBEG7/bundle.json","state":"https://pith.science/pith/SOZBEI3DJPIHQZGV7AFWEVBEG7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SOZBEI3DJPIHQZGV7AFWEVBEG7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:SOZBEI3DJPIHQZGV7AFWEVBEG7","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":"6ca8c5925173097ff04323337bacf075dcd5aa836b72a236c04d76c4d0ed679a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T08:27:20Z","title_canon_sha256":"8a9d87f334fe0d71478ae969b30e6408c5701cc872a48a2525fdcec8694122c5"},"schema_version":"1.0","source":{"id":"2506.11570","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.11570","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"arxiv_version","alias_value":"2506.11570v1","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.11570","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"pith_short_12","alias_value":"SOZBEI3DJPIH","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"pith_short_16","alias_value":"SOZBEI3DJPIHQZGV","created_at":"2026-07-05T11:23:29Z"},{"alias_kind":"pith_short_8","alias_value":"SOZBEI3D","created_at":"2026-07-05T11:23:29Z"}],"graph_snapshots":[{"event_id":"sha256:a08f165d0e435543f0bbb2e94f2e9b014c4b0f084b2125e9e4bf49ae369681ac","target":"graph","created_at":"2026-07-05T11:23:29Z","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/2506.11570/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a novel under-actuated gripper with two 3-joint fingers, which realizes force feedback control by the deep learning technique- Long Short-Term Memory (LSTM) model, without any force sensor. First, a five-linkage mechanism stacked by double four-linkages is designed as a finger to automatically achieve the transformation between parallel and enveloping grasping modes. This enables the creation of a low-cost under-actuated gripper comprising a single actuator and two 3-phalange fingers. Second, we devise theoretical models of kinematics and power transmission based on the proposed gri","authors_text":"Guodong Lu, Huixu Dong, I-Ming Chen, Jihao Li, Keqi Zhu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T08:27:20Z","title":"Construction of a Multiple-DOF Under-actuated Gripper with Force-Sensing via Deep Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.11570","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:e525006c526fa9f324d787edb9a9340a0711fed54e9bd8a9c2a1a1b27e3dc478","target":"record","created_at":"2026-07-05T11:23:29Z","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":"6ca8c5925173097ff04323337bacf075dcd5aa836b72a236c04d76c4d0ed679a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-13T08:27:20Z","title_canon_sha256":"8a9d87f334fe0d71478ae969b30e6408c5701cc872a48a2525fdcec8694122c5"},"schema_version":"1.0","source":{"id":"2506.11570","kind":"arxiv","version":1}},"canonical_sha256":"93b21223634bd07864d5f80b62542437d403dcc464dc32f58063270260f799a9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"93b21223634bd07864d5f80b62542437d403dcc464dc32f58063270260f799a9","first_computed_at":"2026-07-05T11:23:29.945183Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:23:29.945183Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"c60lLGG/kW/PBW7SZu1g9wzfyY0W1/2um+dvzvpXOOWw61lJwMlEjebDKCVqCceAiDmco1MrvWxoGjNA1MwNCg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:23:29.945706Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.11570","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e525006c526fa9f324d787edb9a9340a0711fed54e9bd8a9c2a1a1b27e3dc478","sha256:a08f165d0e435543f0bbb2e94f2e9b014c4b0f084b2125e9e4bf49ae369681ac"],"state_sha256":"f1bb612e2d91bb58de154cac594e4c4197af53dbe6e9917454a99d7205e613d7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oPya/psHOc00EBMv+cotUG6xIE3ehNiC5UWef3B7fHn++/lHh6FZqSjo+XcM7enJAviLzzxfj6Ps7OecgGHpCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T23:18:47.327951Z","bundle_sha256":"4be84ea7d68f37e73c08c6c692e9475f55fe1e7b8195165088e0f45ac067b3fd"}}