{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:VPN2D5ISVPIT6525MDSBDA7TLQ","short_pith_number":"pith:VPN2D5IS","canonical_record":{"source":{"id":"1810.04621","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-10T16:26:35Z","cross_cats_sorted":[],"title_canon_sha256":"ea2edfe0988f7295df6582269e3558886fe5cdfeee0b155eb588d9b323cdfaf4","abstract_canon_sha256":"5580e26a538e2fa6248527030a5605dc6afd19872211acf0f28c3a326d765aba"},"schema_version":"1.0"},"canonical_sha256":"abdba1f512abd13f775d60e41183f35c2a1a3df786e9ba173d2aec0fa68ba4de","source":{"kind":"arxiv","id":"1810.04621","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.04621","created_at":"2026-05-17T23:49:03Z"},{"alias_kind":"arxiv_version","alias_value":"1810.04621v2","created_at":"2026-05-17T23:49:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.04621","created_at":"2026-05-17T23:49:03Z"},{"alias_kind":"pith_short_12","alias_value":"VPN2D5ISVPIT","created_at":"2026-05-18T12:32:59Z"},{"alias_kind":"pith_short_16","alias_value":"VPN2D5ISVPIT6525","created_at":"2026-05-18T12:32:59Z"},{"alias_kind":"pith_short_8","alias_value":"VPN2D5IS","created_at":"2026-05-18T12:32:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:VPN2D5ISVPIT6525MDSBDA7TLQ","target":"record","payload":{"canonical_record":{"source":{"id":"1810.04621","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-10T16:26:35Z","cross_cats_sorted":[],"title_canon_sha256":"ea2edfe0988f7295df6582269e3558886fe5cdfeee0b155eb588d9b323cdfaf4","abstract_canon_sha256":"5580e26a538e2fa6248527030a5605dc6afd19872211acf0f28c3a326d765aba"},"schema_version":"1.0"},"canonical_sha256":"abdba1f512abd13f775d60e41183f35c2a1a3df786e9ba173d2aec0fa68ba4de","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:49:03.248862Z","signature_b64":"KsIwXEC8OdOto/SXR4vswqQ/vOIwPJNGBO+MuYH0igOAW39OEu7qLOGn1wXJDKY+6ooQjncRi5+E/HP4TcHHAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"abdba1f512abd13f775d60e41183f35c2a1a3df786e9ba173d2aec0fa68ba4de","last_reissued_at":"2026-05-17T23:49:03.248471Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:49:03.248471Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1810.04621","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":"2026-05-17T23:49:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"w+4QbvSARZLVbxIAGBEef68pzcwwaDwwF78yH+PzV5rzedakGRY0Qux7DxX2N+/Sk3rbrGBxThfftYgHHBBnAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T22:12:30.164220Z"},"content_sha256":"762f3f07cedf919a476408777ee396b368a6b4fb406ab79b3e08e13e73e178dd","schema_version":"1.0","event_id":"sha256:762f3f07cedf919a476408777ee396b368a6b4fb406ab79b3e08e13e73e178dd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:VPN2D5ISVPIT6525MDSBDA7TLQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rodriguez, Daolin Ma, Elliott Donlon, Siyuan Dong","submitted_at":"2018-10-10T16:26:35Z","abstract_excerpt":"In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and uses an array of markers to track deformations on a gel pad due to contact. A new hardware design makes the sensor more rugged, parametrically adjustable and improves illumination. Leveraging the sensor's increased functionality, we propose to use inverse Finite Element Method (iFEM), a numerical method to reconstruct the contact force distribution based on marker displacements. The sensor is able to provide force dist"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.04621","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":""},"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":"2026-05-17T23:49:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"msZyC6RoKEKJmpXbiQmqyBIquOeha8kFeNY5bP9bVrHbmxYektmnfZKWS9591Lps2Vyxj1tQtQk1TXYC6sEcAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T22:12:30.164588Z"},"content_sha256":"a03f3fa9a6254fbb6cf9e5a26ab4951e3c78a3f8b6608fd73762ac05ecdc2150","schema_version":"1.0","event_id":"sha256:a03f3fa9a6254fbb6cf9e5a26ab4951e3c78a3f8b6608fd73762ac05ecdc2150"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VPN2D5ISVPIT6525MDSBDA7TLQ/bundle.json","state_url":"https://pith.science/pith/VPN2D5ISVPIT6525MDSBDA7TLQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VPN2D5ISVPIT6525MDSBDA7TLQ/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":"2026-05-29T22:12:30Z","links":{"resolver":"https://pith.science/pith/VPN2D5ISVPIT6525MDSBDA7TLQ","bundle":"https://pith.science/pith/VPN2D5ISVPIT6525MDSBDA7TLQ/bundle.json","state":"https://pith.science/pith/VPN2D5ISVPIT6525MDSBDA7TLQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VPN2D5ISVPIT6525MDSBDA7TLQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:VPN2D5ISVPIT6525MDSBDA7TLQ","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":"5580e26a538e2fa6248527030a5605dc6afd19872211acf0f28c3a326d765aba","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-10T16:26:35Z","title_canon_sha256":"ea2edfe0988f7295df6582269e3558886fe5cdfeee0b155eb588d9b323cdfaf4"},"schema_version":"1.0","source":{"id":"1810.04621","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.04621","created_at":"2026-05-17T23:49:03Z"},{"alias_kind":"arxiv_version","alias_value":"1810.04621v2","created_at":"2026-05-17T23:49:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.04621","created_at":"2026-05-17T23:49:03Z"},{"alias_kind":"pith_short_12","alias_value":"VPN2D5ISVPIT","created_at":"2026-05-18T12:32:59Z"},{"alias_kind":"pith_short_16","alias_value":"VPN2D5ISVPIT6525","created_at":"2026-05-18T12:32:59Z"},{"alias_kind":"pith_short_8","alias_value":"VPN2D5IS","created_at":"2026-05-18T12:32:59Z"}],"graph_snapshots":[{"event_id":"sha256:a03f3fa9a6254fbb6cf9e5a26ab4951e3c78a3f8b6608fd73762ac05ecdc2150","target":"graph","created_at":"2026-05-17T23:49:03Z","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"},"paper":{"abstract_excerpt":"In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and uses an array of markers to track deformations on a gel pad due to contact. A new hardware design makes the sensor more rugged, parametrically adjustable and improves illumination. Leveraging the sensor's increased functionality, we propose to use inverse Finite Element Method (iFEM), a numerical method to reconstruct the contact force distribution based on marker displacements. The sensor is able to provide force dist","authors_text":"Alberto Rodriguez, Daolin Ma, Elliott Donlon, Siyuan Dong","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-10T16:26:35Z","title":"Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.04621","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":"sha256:762f3f07cedf919a476408777ee396b368a6b4fb406ab79b3e08e13e73e178dd","target":"record","created_at":"2026-05-17T23:49:03Z","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":"5580e26a538e2fa6248527030a5605dc6afd19872211acf0f28c3a326d765aba","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-10-10T16:26:35Z","title_canon_sha256":"ea2edfe0988f7295df6582269e3558886fe5cdfeee0b155eb588d9b323cdfaf4"},"schema_version":"1.0","source":{"id":"1810.04621","kind":"arxiv","version":2}},"canonical_sha256":"abdba1f512abd13f775d60e41183f35c2a1a3df786e9ba173d2aec0fa68ba4de","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"abdba1f512abd13f775d60e41183f35c2a1a3df786e9ba173d2aec0fa68ba4de","first_computed_at":"2026-05-17T23:49:03.248471Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:49:03.248471Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KsIwXEC8OdOto/SXR4vswqQ/vOIwPJNGBO+MuYH0igOAW39OEu7qLOGn1wXJDKY+6ooQjncRi5+E/HP4TcHHAw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:49:03.248862Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.04621","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:762f3f07cedf919a476408777ee396b368a6b4fb406ab79b3e08e13e73e178dd","sha256:a03f3fa9a6254fbb6cf9e5a26ab4951e3c78a3f8b6608fd73762ac05ecdc2150"],"state_sha256":"1956e80b637811b5a88aeb20fa5e66af4ffffcb69bb9e7fc35b492dd2173a183"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PAv6Ke5EGthCKPgSijxm9tw95fFTXpRnFDahiQKY2rf1iiqYZMEnt3hutkQjKbpele+ETzaAURFvtNfq9c0ACQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-29T22:12:30.166507Z","bundle_sha256":"ed7b862e47ddeb0c2f0418ff08f916314889662efb0defac6f5f394de9f7b2af"}}