{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:SPBOLVJFZPZJZGHAOEO5K3EHJ3","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":"9d94309dd57900e4bd99146ca4bba8a1fac46d23b29491ca848c134bab44913a","cross_cats_sorted":["cs.HC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-23T05:02:03Z","title_canon_sha256":"1da4a44f7b7c3d31b0cf6ad0ae41dda30c499e94f8227d115ea7f82ee4d2937c"},"schema_version":"1.0","source":{"id":"2211.12705","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.12705","created_at":"2026-07-05T05:50:11Z"},{"alias_kind":"arxiv_version","alias_value":"2211.12705v2","created_at":"2026-07-05T05:50:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.12705","created_at":"2026-07-05T05:50:11Z"},{"alias_kind":"pith_short_12","alias_value":"SPBOLVJFZPZJ","created_at":"2026-07-05T05:50:11Z"},{"alias_kind":"pith_short_16","alias_value":"SPBOLVJFZPZJZGHA","created_at":"2026-07-05T05:50:11Z"},{"alias_kind":"pith_short_8","alias_value":"SPBOLVJF","created_at":"2026-07-05T05:50:11Z"}],"graph_snapshots":[{"event_id":"sha256:0a69e272a99ca11bfcf8f70de393ca8ed57fbf90920aeda5e7720fe266b717ac","target":"graph","created_at":"2026-07-05T05:50:11Z","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/2211.12705/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Dorsa Sadigh, Jennifer Grannen, Lorenzo Shaikewitz, Priya Sundaresan, Suneel Belkhale, Yilin Wu","cross_cats":["cs.HC"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-23T05:02:03Z","title":"In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.12705","kind":"arxiv","version":2},"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":"sha256:297d5de8aa2a326f43816f2612f13aca0c5f390f11ad34376b1371e6ede0c58d","target":"record","created_at":"2026-07-05T05:50:11Z","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":"9d94309dd57900e4bd99146ca4bba8a1fac46d23b29491ca848c134bab44913a","cross_cats_sorted":["cs.HC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-23T05:02:03Z","title_canon_sha256":"1da4a44f7b7c3d31b0cf6ad0ae41dda30c499e94f8227d115ea7f82ee4d2937c"},"schema_version":"1.0","source":{"id":"2211.12705","kind":"arxiv","version":2}},"canonical_sha256":"93c2e5d525cbf29c98e0711dd56c874ee453c23a22986eb0a7cb42061300d252","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"93c2e5d525cbf29c98e0711dd56c874ee453c23a22986eb0a7cb42061300d252","first_computed_at":"2026-07-05T05:50:11.323208Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:50:11.323208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WTlyW6GEefpazuorkwd3Uk235p5urpiL9QGjvyfQaSho6fxqvzoTouj6E7GyttoOku4u6m500+TnBQvkO4XVCw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:50:11.323831Z","signed_message":"canonical_sha256_bytes"},"source_id":"2211.12705","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:297d5de8aa2a326f43816f2612f13aca0c5f390f11ad34376b1371e6ede0c58d","sha256:0a69e272a99ca11bfcf8f70de393ca8ed57fbf90920aeda5e7720fe266b717ac"],"state_sha256":"f5b97bd71aff64dd844d3df0b67b9d7488a4e53b05ce5d290af1bef2e0728659"}