{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:TVRMPFVJ6QGXWKR7SIW5K3R6FK","short_pith_number":"pith:TVRMPFVJ","canonical_record":{"source":{"id":"2011.01817","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-03T16:17:14Z","cross_cats_sorted":[],"title_canon_sha256":"c341ec4127b22639d1711d05feb03754272536076335563d1116dc97dec73803","abstract_canon_sha256":"0567f45fe9ec8287747a270537515a858817653b2fee1942b4cf5aaac372af28"},"schema_version":"1.0"},"canonical_sha256":"9d62c796a9f40d7b2a3f922dd56e3e2a907c614b40749e1c7b7615e55cc2a073","source":{"kind":"arxiv","id":"2011.01817","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.01817","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"arxiv_version","alias_value":"2011.01817v2","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.01817","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"pith_short_12","alias_value":"TVRMPFVJ6QGX","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"pith_short_16","alias_value":"TVRMPFVJ6QGXWKR7","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"pith_short_8","alias_value":"TVRMPFVJ","created_at":"2026-07-05T02:10:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:TVRMPFVJ6QGXWKR7SIW5K3R6FK","target":"record","payload":{"canonical_record":{"source":{"id":"2011.01817","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-03T16:17:14Z","cross_cats_sorted":[],"title_canon_sha256":"c341ec4127b22639d1711d05feb03754272536076335563d1116dc97dec73803","abstract_canon_sha256":"0567f45fe9ec8287747a270537515a858817653b2fee1942b4cf5aaac372af28"},"schema_version":"1.0"},"canonical_sha256":"9d62c796a9f40d7b2a3f922dd56e3e2a907c614b40749e1c7b7615e55cc2a073","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:10:48.961168Z","signature_b64":"K/dH1izqeuhqIkmBCM/V5Zyt9YE4E4Xg9y9+W8g8DPOHgSxFDl7q81quP6QB31gw8tpgLGZzLlJRV5UxRr2vCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9d62c796a9f40d7b2a3f922dd56e3e2a907c614b40749e1c7b7615e55cc2a073","last_reissued_at":"2026-07-05T02:10:48.960686Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:10:48.960686Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2011.01817","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:10:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4rf3ASZQwLx89FrrSEtrN+rCuThgc9V1coxeex3u0NLi7zTpRloLhchLKO9QKMm2W2fkgQ8KkB3/eFAuFDXeAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T00:52:42.641974Z"},"content_sha256":"380a5c8a65f54a6d2611a43b5f6f92449513f25845ebd4e06cf54a0d2f5ad305","schema_version":"1.0","event_id":"sha256:380a5c8a65f54a6d2611a43b5f6f92449513f25845ebd4e06cf54a0d2f5ad305"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:TVRMPFVJ6QGXWKR7SIW5K3R6FK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ankur Kapoor, Dong-Ho Lee, Dong-Soo Kwon, Jarrod Collins, Tommaso Mansi, Young-Ho Kim","submitted_at":"2020-11-03T16:17:14Z","abstract_excerpt":"Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial TSM-based medical devices have non-linear phenomena resulting from their composition such as backlash hysteresis and dead zone, which lead to a considerable challenge for achieving precise control of the end effector pose. However, many recent works in the literature do not consider the combined effects and compensation of these phenomena, and less focus on pract"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.01817","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/2011.01817/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":"2026-07-05T02:10:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EUaI7Iy7FtPiGs3X5MHQIbKgM5zOAljWUgFyJnTOoQ+ZjLatkz+8edKCLJcmPHo3KccNnU2Q4GN+sVAe3CXiAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T00:52:42.642772Z"},"content_sha256":"1650d5fbf860052ac7637d8187854f04edca202f154c2fd2e5b73fd84f2df393","schema_version":"1.0","event_id":"sha256:1650d5fbf860052ac7637d8187854f04edca202f154c2fd2e5b73fd84f2df393"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TVRMPFVJ6QGXWKR7SIW5K3R6FK/bundle.json","state_url":"https://pith.science/pith/TVRMPFVJ6QGXWKR7SIW5K3R6FK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TVRMPFVJ6QGXWKR7SIW5K3R6FK/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":"2026-08-20T00:52:42Z","links":{"resolver":"https://pith.science/pith/TVRMPFVJ6QGXWKR7SIW5K3R6FK","bundle":"https://pith.science/pith/TVRMPFVJ6QGXWKR7SIW5K3R6FK/bundle.json","state":"https://pith.science/pith/TVRMPFVJ6QGXWKR7SIW5K3R6FK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TVRMPFVJ6QGXWKR7SIW5K3R6FK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:TVRMPFVJ6QGXWKR7SIW5K3R6FK","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":"0567f45fe9ec8287747a270537515a858817653b2fee1942b4cf5aaac372af28","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-03T16:17:14Z","title_canon_sha256":"c341ec4127b22639d1711d05feb03754272536076335563d1116dc97dec73803"},"schema_version":"1.0","source":{"id":"2011.01817","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.01817","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"arxiv_version","alias_value":"2011.01817v2","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.01817","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"pith_short_12","alias_value":"TVRMPFVJ6QGX","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"pith_short_16","alias_value":"TVRMPFVJ6QGXWKR7","created_at":"2026-07-05T02:10:48Z"},{"alias_kind":"pith_short_8","alias_value":"TVRMPFVJ","created_at":"2026-07-05T02:10:48Z"}],"graph_snapshots":[{"event_id":"sha256:1650d5fbf860052ac7637d8187854f04edca202f154c2fd2e5b73fd84f2df393","target":"graph","created_at":"2026-07-05T02:10:48Z","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/2011.01817/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial TSM-based medical devices have non-linear phenomena resulting from their composition such as backlash hysteresis and dead zone, which lead to a considerable challenge for achieving precise control of the end effector pose. However, many recent works in the literature do not consider the combined effects and compensation of these phenomena, and less focus on pract","authors_text":"Ankur Kapoor, Dong-Ho Lee, Dong-Soo Kwon, Jarrod Collins, Tommaso Mansi, Young-Ho Kim","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-03T16:17:14Z","title":"Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.01817","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":"sha256:380a5c8a65f54a6d2611a43b5f6f92449513f25845ebd4e06cf54a0d2f5ad305","target":"record","created_at":"2026-07-05T02:10:48Z","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":"0567f45fe9ec8287747a270537515a858817653b2fee1942b4cf5aaac372af28","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-03T16:17:14Z","title_canon_sha256":"c341ec4127b22639d1711d05feb03754272536076335563d1116dc97dec73803"},"schema_version":"1.0","source":{"id":"2011.01817","kind":"arxiv","version":2}},"canonical_sha256":"9d62c796a9f40d7b2a3f922dd56e3e2a907c614b40749e1c7b7615e55cc2a073","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9d62c796a9f40d7b2a3f922dd56e3e2a907c614b40749e1c7b7615e55cc2a073","first_computed_at":"2026-07-05T02:10:48.960686Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:10:48.960686Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"K/dH1izqeuhqIkmBCM/V5Zyt9YE4E4Xg9y9+W8g8DPOHgSxFDl7q81quP6QB31gw8tpgLGZzLlJRV5UxRr2vCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:10:48.961168Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.01817","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:380a5c8a65f54a6d2611a43b5f6f92449513f25845ebd4e06cf54a0d2f5ad305","sha256:1650d5fbf860052ac7637d8187854f04edca202f154c2fd2e5b73fd84f2df393"],"state_sha256":"82d72a7c4967074013442dea17658854d2be0bdd2bde5a2782a91be7aa562253"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vj4qZT/u2m/GcUx6k2QxyOJXT/03eywh5idod1DkzDe+SxrvD2JtpWduCsPkD7M8futJ4+QrZ0yvvYowphH0CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T00:52:42.648750Z","bundle_sha256":"984c10d5f34b6921f895fa276129a19c7248324cbffa086ceffddeea3cf360e1"}}