Pith Number

pith:UQD3FQBX

pith:2021:UQD3FQBXUESWWDNDP6QAART3GW

not attested not anchored not stored refs pending

Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle

David Howard, James Brett, Joshua Pinskier, Katrina Lo Surdo, Lauren Hanson

arxiv:2109.04681 v2 · 2021-09-10 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{UQD3FQBXUESWWDNDP6QAART3GW}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T09:26:10.732550Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a407b2c037a1256b0da37fa000467b35a2247a2aa0f5aa7814f5ae6611dee35d

Aliases

arxiv: 2109.04681 · arxiv_version: 2109.04681v2 · doi: 10.48550/arxiv.2109.04681 · pith_short_12: UQD3FQBXUESW · pith_short_16: UQD3FQBXUESWWDND · pith_short_8: UQD3FQBX

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/UQD3FQBXUESWWDNDP6QAART3GW \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: a407b2c037a1256b0da37fa000467b35a2247a2aa0f5aa7814f5ae6611dee35d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4f93422e4af0f1bb30370a1f7b819d57b62a3c62e9df67c7518cf4ec661e2545",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-10T06:08:02Z",
    "title_canon_sha256": "4865275aac7369882e73c7e358a5748c8b2e0941afd5eccfd961b5cb88948e6d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.04681",
    "kind": "arxiv",
    "version": 2
  }
}