{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:UQD3FQBXUESWWDNDP6QAART3GW","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":"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.04681","created_at":"2026-07-05T09:26:10Z"},{"alias_kind":"arxiv_version","alias_value":"2109.04681v2","created_at":"2026-07-05T09:26:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.04681","created_at":"2026-07-05T09:26:10Z"},{"alias_kind":"pith_short_12","alias_value":"UQD3FQBXUESW","created_at":"2026-07-05T09:26:10Z"},{"alias_kind":"pith_short_16","alias_value":"UQD3FQBXUESWWDND","created_at":"2026-07-05T09:26:10Z"},{"alias_kind":"pith_short_8","alias_value":"UQD3FQBX","created_at":"2026-07-05T09:26:10Z"}],"graph_snapshots":[{"event_id":"sha256:9b438b11db96425ac685d0e60b7e95c8eca3024982a17102bbc4b437c71d7506","target":"graph","created_at":"2026-07-05T09:26:10Z","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/2109.04681/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered by contemporary fabrication techniques including multi-material 3D printing in the creation of fibre jamming structures. In this research, we present a novel, modular, multi-material, 3D printed, fibre jamming tendon unit for use in a stiffness-tuneable compliant robotic ankle, or Jammkle. We describe the design and fabrication of the Jammkle and highlight ","authors_text":"David Howard, James Brett, Joshua Pinskier, Katrina Lo Surdo, Lauren Hanson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-10T06:08:02Z","title":"Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.04681","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":"sha256:094fe77ac6077afcbec963c0d62632e7dd66f7aba52729619cf62a0a2bd42f69","target":"record","created_at":"2026-07-05T09:26:10Z","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":"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}},"canonical_sha256":"a407b2c037a1256b0da37fa000467b35a2247a2aa0f5aa7814f5ae6611dee35d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a407b2c037a1256b0da37fa000467b35a2247a2aa0f5aa7814f5ae6611dee35d","first_computed_at":"2026-07-05T09:26:10.732550Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:26:10.732550Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eRE3tEkDvle88TIxJTfQpOGEJdLYxkQO/I6NAyxlag8eD2PSeNqcbJDvJwA5EIfoOZvJPLAESu4IL/LSl7AeAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:26:10.733009Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.04681","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:094fe77ac6077afcbec963c0d62632e7dd66f7aba52729619cf62a0a2bd42f69","sha256:9b438b11db96425ac685d0e60b7e95c8eca3024982a17102bbc4b437c71d7506"],"state_sha256":"b86b80cb98b2cc9856d8b8c16e85d92d8f95f063d7846c8d10bdb681a2d63a9d"}