{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:SPBOLVJFZPZJZGHAOEO5K3EHJ3","short_pith_number":"pith:SPBOLVJF","schema_version":"1.0","canonical_sha256":"93c2e5d525cbf29c98e0711dd56c874ee453c23a22986eb0a7cb42061300d252","source":{"kind":"arxiv","id":"2211.12705","version":2},"attestation_state":"computed","paper":{"title":"In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Dorsa Sadigh, Jennifer Grannen, Lorenzo Shaikewitz, Priya Sundaresan, Suneel Belkhale, Yilin Wu","submitted_at":"2022-11-23T05:02:03Z","abstract_excerpt":"Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating assistance, a semi-autonomous robotic platform can provide independence and a healthier lifestyle. We demonstrate an essential capability of this platform: safe, comfortable, and effective transfer of a bite-sized food item from a utensil directly to the inside of a person's mouth. Our system uses a force-reactive controller to safely accommodate the user's motio"},"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":"2211.12705","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-23T05:02:03Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"1da4a44f7b7c3d31b0cf6ad0ae41dda30c499e94f8227d115ea7f82ee4d2937c","abstract_canon_sha256":"9d94309dd57900e4bd99146ca4bba8a1fac46d23b29491ca848c134bab44913a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:50:11.323831Z","signature_b64":"WTlyW6GEefpazuorkwd3Uk235p5urpiL9QGjvyfQaSho6fxqvzoTouj6E7GyttoOku4u6m500+TnBQvkO4XVCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"93c2e5d525cbf29c98e0711dd56c874ee453c23a22986eb0a7cb42061300d252","last_reissued_at":"2026-07-05T05:50:11.323208Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:50:11.323208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Dorsa Sadigh, Jennifer Grannen, Lorenzo Shaikewitz, Priya Sundaresan, Suneel Belkhale, Yilin Wu","submitted_at":"2022-11-23T05:02:03Z","abstract_excerpt":"Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating assistance, a semi-autonomous robotic platform can provide independence and a healthier lifestyle. We demonstrate an essential capability of this platform: safe, comfortable, and effective transfer of a bite-sized food item from a utensil directly to the inside of a person's mouth. Our system uses a force-reactive controller to safely accommodate the user's motio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.12705","kind":"arxiv","version":2},"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/2211.12705/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":"2211.12705","created_at":"2026-07-05T05:50:11.323283+00:00"},{"alias_kind":"arxiv_version","alias_value":"2211.12705v2","created_at":"2026-07-05T05:50:11.323283+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.12705","created_at":"2026-07-05T05:50:11.323283+00:00"},{"alias_kind":"pith_short_12","alias_value":"SPBOLVJFZPZJ","created_at":"2026-07-05T05:50:11.323283+00:00"},{"alias_kind":"pith_short_16","alias_value":"SPBOLVJFZPZJZGHA","created_at":"2026-07-05T05:50:11.323283+00:00"},{"alias_kind":"pith_short_8","alias_value":"SPBOLVJF","created_at":"2026-07-05T05:50:11.323283+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2506.14968","citing_title":"FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization","ref_index":26,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3","json":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3.json","graph_json":"https://pith.science/api/pith-number/SPBOLVJFZPZJZGHAOEO5K3EHJ3/graph.json","events_json":"https://pith.science/api/pith-number/SPBOLVJFZPZJZGHAOEO5K3EHJ3/events.json","paper":"https://pith.science/paper/SPBOLVJF"},"agent_actions":{"view_html":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3","download_json":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3.json","view_paper":"https://pith.science/paper/SPBOLVJF","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2211.12705&json=true","fetch_graph":"https://pith.science/api/pith-number/SPBOLVJFZPZJZGHAOEO5K3EHJ3/graph.json","fetch_events":"https://pith.science/api/pith-number/SPBOLVJFZPZJZGHAOEO5K3EHJ3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3/action/storage_attestation","attest_author":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3/action/author_attestation","sign_citation":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3/action/citation_signature","submit_replication":"https://pith.science/pith/SPBOLVJFZPZJZGHAOEO5K3EHJ3/action/replication_record"}},"created_at":"2026-07-05T05:50:11.323283+00:00","updated_at":"2026-07-05T05:50:11.323283+00:00"}