{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:XYXRPTZS65HL5RUFHLTVUGAP4V","short_pith_number":"pith:XYXRPTZS","schema_version":"1.0","canonical_sha256":"be2f17cf32f74ebec6853ae75a180fe56fbcea83458b43ded2d6901b7fda6e95","source":{"kind":"arxiv","id":"2111.05891","version":1},"attestation_state":"computed","paper":{"title":"A Portable and Passive Gravity Compensation Arm Support for Drone Teleoperation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Carine Rognon, Dario Floreano, Jenifer Miehlbradt, Loic Grossen, Silvestro Micera, Stefano Mintchev","submitted_at":"2021-11-10T19:24:39Z","abstract_excerpt":"Gesture-based interfaces are often used to achieve a more natural and intuitive teleoperation of robots. Yet, sometimes, gesture control requires postures or movements that cause significant fatigue to the user. In a previous user study, we demonstrated that na\\\"ive users can control a fixed-wing drone with torso movements while their arms are spread out. However, this posture induced significant arm fatigue. In this work, we present a passive arm support that compensates the arm weight with a mean torque error smaller than 0.005 N/kg for more than 97% of the range of motion used by subjects 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":"2111.05891","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-11-10T19:24:39Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"0373987aabaa441642eec8a3a8288350a402aed76994239c0bda46b43ad47610","abstract_canon_sha256":"31769fdd10db8ba2d210898b7cdcfcd15d1356215160009355d6b875fcde3698"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:30:55.940577Z","signature_b64":"PNkjHCBuI2NTYIL1rIQcRDQ3GRSCYuFx6q4X9pUnhfCArDq1zN0w75Pq4RhMo+MvfvogrI1EOCcpZ1KssWX9Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"be2f17cf32f74ebec6853ae75a180fe56fbcea83458b43ded2d6901b7fda6e95","last_reissued_at":"2026-07-05T03:30:55.940108Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:30:55.940108Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Portable and Passive Gravity Compensation Arm Support for Drone Teleoperation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Carine Rognon, Dario Floreano, Jenifer Miehlbradt, Loic Grossen, Silvestro Micera, Stefano Mintchev","submitted_at":"2021-11-10T19:24:39Z","abstract_excerpt":"Gesture-based interfaces are often used to achieve a more natural and intuitive teleoperation of robots. Yet, sometimes, gesture control requires postures or movements that cause significant fatigue to the user. In a previous user study, we demonstrated that na\\\"ive users can control a fixed-wing drone with torso movements while their arms are spread out. However, this posture induced significant arm fatigue. In this work, we present a passive arm support that compensates the arm weight with a mean torque error smaller than 0.005 N/kg for more than 97% of the range of motion used by subjects t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.05891","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/2111.05891/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":"2111.05891","created_at":"2026-07-05T03:30:55.940177+00:00"},{"alias_kind":"arxiv_version","alias_value":"2111.05891v1","created_at":"2026-07-05T03:30:55.940177+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.05891","created_at":"2026-07-05T03:30:55.940177+00:00"},{"alias_kind":"pith_short_12","alias_value":"XYXRPTZS65HL","created_at":"2026-07-05T03:30:55.940177+00:00"},{"alias_kind":"pith_short_16","alias_value":"XYXRPTZS65HL5RUF","created_at":"2026-07-05T03:30:55.940177+00:00"},{"alias_kind":"pith_short_8","alias_value":"XYXRPTZS","created_at":"2026-07-05T03:30:55.940177+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/XYXRPTZS65HL5RUFHLTVUGAP4V","json":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V.json","graph_json":"https://pith.science/api/pith-number/XYXRPTZS65HL5RUFHLTVUGAP4V/graph.json","events_json":"https://pith.science/api/pith-number/XYXRPTZS65HL5RUFHLTVUGAP4V/events.json","paper":"https://pith.science/paper/XYXRPTZS"},"agent_actions":{"view_html":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V","download_json":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V.json","view_paper":"https://pith.science/paper/XYXRPTZS","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2111.05891&json=true","fetch_graph":"https://pith.science/api/pith-number/XYXRPTZS65HL5RUFHLTVUGAP4V/graph.json","fetch_events":"https://pith.science/api/pith-number/XYXRPTZS65HL5RUFHLTVUGAP4V/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V/action/storage_attestation","attest_author":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V/action/author_attestation","sign_citation":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V/action/citation_signature","submit_replication":"https://pith.science/pith/XYXRPTZS65HL5RUFHLTVUGAP4V/action/replication_record"}},"created_at":"2026-07-05T03:30:55.940177+00:00","updated_at":"2026-07-05T03:30:55.940177+00:00"}