{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:URBB6SDLKL7EXM7U6LEEF3SN5X","short_pith_number":"pith:URBB6SDL","schema_version":"1.0","canonical_sha256":"a4421f486b52fe4bb3f4f2c842ee4dedfa8dc8ba76e9b300d6239637ce5be951","source":{"kind":"arxiv","id":"2606.11952","version":1},"attestation_state":"computed","paper":{"title":"Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gabriel Arslan Waltersson, Yiannis Karayiannidis","submitted_at":"2026-06-10T11:28:00Z","abstract_excerpt":"This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations."},"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":"2606.11952","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T11:28:00Z","cross_cats_sorted":[],"title_canon_sha256":"a9d00745c5fb2ee3c590c19e92f3546c2d3e4b6d2d3896641ad1551f405e51b4","abstract_canon_sha256":"692d9af308e1651d90e84b99d382111a3546a2aa6f4ba80d3d3207c701600dc2"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-11T01:10:17.607448Z","signature_b64":"KENdD+SXBfaXdybrHkYqnKr+xPL3nuU/uUEew73DjSljmkTAOyip76Lt449Ijp0Gqu6xp911rPPs8eCt++3iCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a4421f486b52fe4bb3f4f2c842ee4dedfa8dc8ba76e9b300d6239637ce5be951","last_reissued_at":"2026-06-11T01:10:17.606509Z","signature_status":"signed_v1","first_computed_at":"2026-06-11T01:10:17.606509Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gabriel Arslan Waltersson, Yiannis Karayiannidis","submitted_at":"2026-06-10T11:28:00Z","abstract_excerpt":"This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.11952","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/2606.11952/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":"2606.11952","created_at":"2026-06-11T01:10:17.606667+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.11952v1","created_at":"2026-06-11T01:10:17.606667+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.11952","created_at":"2026-06-11T01:10:17.606667+00:00"},{"alias_kind":"pith_short_12","alias_value":"URBB6SDLKL7E","created_at":"2026-06-11T01:10:17.606667+00:00"},{"alias_kind":"pith_short_16","alias_value":"URBB6SDLKL7EXM7U","created_at":"2026-06-11T01:10:17.606667+00:00"},{"alias_kind":"pith_short_8","alias_value":"URBB6SDL","created_at":"2026-06-11T01:10:17.606667+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/URBB6SDLKL7EXM7U6LEEF3SN5X","json":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X.json","graph_json":"https://pith.science/api/pith-number/URBB6SDLKL7EXM7U6LEEF3SN5X/graph.json","events_json":"https://pith.science/api/pith-number/URBB6SDLKL7EXM7U6LEEF3SN5X/events.json","paper":"https://pith.science/paper/URBB6SDL"},"agent_actions":{"view_html":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X","download_json":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X.json","view_paper":"https://pith.science/paper/URBB6SDL","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.11952&json=true","fetch_graph":"https://pith.science/api/pith-number/URBB6SDLKL7EXM7U6LEEF3SN5X/graph.json","fetch_events":"https://pith.science/api/pith-number/URBB6SDLKL7EXM7U6LEEF3SN5X/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X/action/timestamp_anchor","attest_storage":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X/action/storage_attestation","attest_author":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X/action/author_attestation","sign_citation":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X/action/citation_signature","submit_replication":"https://pith.science/pith/URBB6SDLKL7EXM7U6LEEF3SN5X/action/replication_record"}},"created_at":"2026-06-11T01:10:17.606667+00:00","updated_at":"2026-06-11T01:10:17.606667+00:00"}