{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:U3WF6YYRJKBZI7BE4WOAABH6G5","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":"560d15f585bb4fb96bc5718282ebdb0bd5a95f5745ca83ac6ec68fc810d71569","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-07-02T02:03:52Z","title_canon_sha256":"d4dd0cb5dd7e714abba51fe4f4289107ab864d394ef643cbf21d39dfc810708e"},"schema_version":"1.0","source":{"id":"2007.00837","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.00837","created_at":"2026-07-05T01:25:13Z"},{"alias_kind":"arxiv_version","alias_value":"2007.00837v2","created_at":"2026-07-05T01:25:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.00837","created_at":"2026-07-05T01:25:13Z"},{"alias_kind":"pith_short_12","alias_value":"U3WF6YYRJKBZ","created_at":"2026-07-05T01:25:13Z"},{"alias_kind":"pith_short_16","alias_value":"U3WF6YYRJKBZI7BE","created_at":"2026-07-05T01:25:13Z"},{"alias_kind":"pith_short_8","alias_value":"U3WF6YYR","created_at":"2026-07-05T01:25:13Z"}],"graph_snapshots":[{"event_id":"sha256:20c15626daa3982da078e6891b09538f63bc587b04c92d514a5a04c7071ac78e","target":"graph","created_at":"2026-07-05T01:25:13Z","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/2007.00837/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we propose a novel method to prevent the time-delay when controlling a walking assist exoskeleton by predicting the future plantar force and walking status. By using Long Short-Term Memory and a fully-connected network, the plantar force can be predicted using only data measured by inertial measurement unit sensors, not only during the walking period but also a","authors_text":"Jun Takamatsu, Mikihisa Nagashima, Ming Ding, Sung-Gwi Cho, Tsukasa Ogasawara","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-07-02T02:03:52Z","title":"Control of Walking Assist Exoskeleton with Time-delay Based on the Prediction of Plantar Force"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.00837","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:dfaf9c8e9523a8576fa6e015cee32a0f6ab685ec17436446c484798aeecda2bb","target":"record","created_at":"2026-07-05T01:25:13Z","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":"560d15f585bb4fb96bc5718282ebdb0bd5a95f5745ca83ac6ec68fc810d71569","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-07-02T02:03:52Z","title_canon_sha256":"d4dd0cb5dd7e714abba51fe4f4289107ab864d394ef643cbf21d39dfc810708e"},"schema_version":"1.0","source":{"id":"2007.00837","kind":"arxiv","version":2}},"canonical_sha256":"a6ec5f63114a83947c24e59c0004fe375e506ec1e69ef311e3cc4c8b2446536e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a6ec5f63114a83947c24e59c0004fe375e506ec1e69ef311e3cc4c8b2446536e","first_computed_at":"2026-07-05T01:25:13.273033Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:25:13.273033Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ji3SNhQBd3/qbGaTfwbE4J1f/p2Tj/WD+c9JOC3Q5XRR0Rg59xAqCgSXUa4M0b3ozs/4lLLNmjppsKMZ3YZaCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:25:13.273510Z","signed_message":"canonical_sha256_bytes"},"source_id":"2007.00837","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dfaf9c8e9523a8576fa6e015cee32a0f6ab685ec17436446c484798aeecda2bb","sha256:20c15626daa3982da078e6891b09538f63bc587b04c92d514a5a04c7071ac78e"],"state_sha256":"a3251d811500b78b0fdc0f5988525261a134d9163ad80bba2ee6cdd749e1ff25"}