{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:WXS2UCLQCCQWYXC33UFLF3UQXR","short_pith_number":"pith:WXS2UCLQ","schema_version":"1.0","canonical_sha256":"b5e5aa097010a16c5c5bdd0ab2ee90bc4f85b415b86c37e2e83e6e1dea7abed8","source":{"kind":"arxiv","id":"2403.14887","version":2},"attestation_state":"computed","paper":{"title":"GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edward Adelson, Jialiang Zhao, Yuxiang Ma","submitted_at":"2024-03-21T23:44:42Z","abstract_excerpt":"Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight, can mitigate this issue by providing high-resolution tactile sensing and accurate proprioceptive sensing. As such, we present GelLink, a compact, underactuated, linkage-driven robotic finger with low-cost, high-resolution vision-based tactile sensing and proprioceptive sensing capabilities. In order to reduce the amount of embedded hardware, i.e. t"},"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":"2403.14887","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-21T23:44:42Z","cross_cats_sorted":[],"title_canon_sha256":"10dd0c89d658604a285676013c1bd45c5ce83e2a2adb8551171258cd95ff7490","abstract_canon_sha256":"ec568b872176e313d7efeb51762d3fb5d408799db641410d954cd24ea54667c1"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:00:43.165243Z","signature_b64":"SL4Ycl4U4sTqucm+tPlhNM+2gkHB2ffslFQMZa19eD+MRCAj4/9/K7zEBzGAPXMVjv7PKZcWDzZoaPozHQogCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b5e5aa097010a16c5c5bdd0ab2ee90bc4f85b415b86c37e2e83e6e1dea7abed8","last_reissued_at":"2026-07-05T08:00:43.164797Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:00:43.164797Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Edward Adelson, Jialiang Zhao, Yuxiang Ma","submitted_at":"2024-03-21T23:44:42Z","abstract_excerpt":"Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like Gelsight, can mitigate this issue by providing high-resolution tactile sensing and accurate proprioceptive sensing. As such, we present GelLink, a compact, underactuated, linkage-driven robotic finger with low-cost, high-resolution vision-based tactile sensing and proprioceptive sensing capabilities. In order to reduce the amount of embedded hardware, i.e. t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.14887","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2403.14887/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":"2403.14887","created_at":"2026-07-05T08:00:43.164864+00:00"},{"alias_kind":"arxiv_version","alias_value":"2403.14887v2","created_at":"2026-07-05T08:00:43.164864+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.14887","created_at":"2026-07-05T08:00:43.164864+00:00"},{"alias_kind":"pith_short_12","alias_value":"WXS2UCLQCCQW","created_at":"2026-07-05T08:00:43.164864+00:00"},{"alias_kind":"pith_short_16","alias_value":"WXS2UCLQCCQWYXC3","created_at":"2026-07-05T08:00:43.164864+00:00"},{"alias_kind":"pith_short_8","alias_value":"WXS2UCLQ","created_at":"2026-07-05T08:00:43.164864+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":0,"sample":[{"citing_arxiv_id":"2604.28156","citing_title":"FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems","ref_index":12,"is_internal_anchor":false}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR","json":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR.json","graph_json":"https://pith.science/api/pith-number/WXS2UCLQCCQWYXC33UFLF3UQXR/graph.json","events_json":"https://pith.science/api/pith-number/WXS2UCLQCCQWYXC33UFLF3UQXR/events.json","paper":"https://pith.science/paper/WXS2UCLQ"},"agent_actions":{"view_html":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR","download_json":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR.json","view_paper":"https://pith.science/paper/WXS2UCLQ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2403.14887&json=true","fetch_graph":"https://pith.science/api/pith-number/WXS2UCLQCCQWYXC33UFLF3UQXR/graph.json","fetch_events":"https://pith.science/api/pith-number/WXS2UCLQCCQWYXC33UFLF3UQXR/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR/action/timestamp_anchor","attest_storage":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR/action/storage_attestation","attest_author":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR/action/author_attestation","sign_citation":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR/action/citation_signature","submit_replication":"https://pith.science/pith/WXS2UCLQCCQWYXC33UFLF3UQXR/action/replication_record"}},"created_at":"2026-07-05T08:00:43.164864+00:00","updated_at":"2026-07-05T08:00:43.164864+00:00"}