{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:SVDAE67UBYG7JPPOCV4NVRWNGG","short_pith_number":"pith:SVDAE67U","schema_version":"1.0","canonical_sha256":"9546027bf40e0df4bdee1578dac6cd31a0914f34031fc454dd7f16328de44665","source":{"kind":"arxiv","id":"2212.04347","version":1},"attestation_state":"computed","paper":{"title":"E-TRoll: Tactile Sensing and Classification via A Simple Robotic Gripper for Extended Rolling Manipulations","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Adam J. Spiers, Xin Zhou","submitted_at":"2022-12-08T15:42:15Z","abstract_excerpt":"Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the also-human-inspired technique of in-hand-manipulation can glean rich data in a fraction of the time of EPs. We propose a simple 3-DOF robotic hand design, optimized for object rolling tasks via a variable-width palm and associated control system. This system dynamically adjusts the distance between the finger bases in response to object behavior. Compared to fixed f"},"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":"2212.04347","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-12-08T15:42:15Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"4729fa751377094f1b8102c3a14647d86750b7464ad18d1f07f4b8ad4a1a1204","abstract_canon_sha256":"d9385a84c0a4547281b9149c6ca02bf896151f1411d252bdac91cfafab331adc"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:23:39.911862Z","signature_b64":"8YkjaCKK3lmQ4qtIrKDNX71VIT95tIDIMdPCWIOgA0YbsJk4J9x6BoOyg/EhvN8y+BQqhe5kjzNZ2rrRrwE8Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9546027bf40e0df4bdee1578dac6cd31a0914f34031fc454dd7f16328de44665","last_reissued_at":"2026-07-05T05:23:39.911453Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:23:39.911453Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"E-TRoll: Tactile Sensing and Classification via A Simple Robotic Gripper for Extended Rolling Manipulations","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Adam J. Spiers, Xin Zhou","submitted_at":"2022-12-08T15:42:15Z","abstract_excerpt":"Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the also-human-inspired technique of in-hand-manipulation can glean rich data in a fraction of the time of EPs. We propose a simple 3-DOF robotic hand design, optimized for object rolling tasks via a variable-width palm and associated control system. This system dynamically adjusts the distance between the finger bases in response to object behavior. Compared to fixed f"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.04347","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/2212.04347/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":"2212.04347","created_at":"2026-07-05T05:23:39.911511+00:00"},{"alias_kind":"arxiv_version","alias_value":"2212.04347v1","created_at":"2026-07-05T05:23:39.911511+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.04347","created_at":"2026-07-05T05:23:39.911511+00:00"},{"alias_kind":"pith_short_12","alias_value":"SVDAE67UBYG7","created_at":"2026-07-05T05:23:39.911511+00:00"},{"alias_kind":"pith_short_16","alias_value":"SVDAE67UBYG7JPPO","created_at":"2026-07-05T05:23:39.911511+00:00"},{"alias_kind":"pith_short_8","alias_value":"SVDAE67U","created_at":"2026-07-05T05:23:39.911511+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/SVDAE67UBYG7JPPOCV4NVRWNGG","json":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG.json","graph_json":"https://pith.science/api/pith-number/SVDAE67UBYG7JPPOCV4NVRWNGG/graph.json","events_json":"https://pith.science/api/pith-number/SVDAE67UBYG7JPPOCV4NVRWNGG/events.json","paper":"https://pith.science/paper/SVDAE67U"},"agent_actions":{"view_html":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG","download_json":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG.json","view_paper":"https://pith.science/paper/SVDAE67U","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2212.04347&json=true","fetch_graph":"https://pith.science/api/pith-number/SVDAE67UBYG7JPPOCV4NVRWNGG/graph.json","fetch_events":"https://pith.science/api/pith-number/SVDAE67UBYG7JPPOCV4NVRWNGG/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG/action/timestamp_anchor","attest_storage":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG/action/storage_attestation","attest_author":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG/action/author_attestation","sign_citation":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG/action/citation_signature","submit_replication":"https://pith.science/pith/SVDAE67UBYG7JPPOCV4NVRWNGG/action/replication_record"}},"created_at":"2026-07-05T05:23:39.911511+00:00","updated_at":"2026-07-05T05:23:39.911511+00:00"}