{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:Y3K5TUUFS26MEIJGW6B3L2MY27","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":"d0737f9299a28a13647770218d3bb7785dcfd4afffe42d9f2f38810acab4e191","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-05T11:29:12Z","title_canon_sha256":"c63df7aca331ffcbed34e83c0ba27dfa4cb5447c189a3a6c95424f328fa361b7"},"schema_version":"1.0","source":{"id":"2405.02897","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.02897","created_at":"2026-07-05T08:15:55Z"},{"alias_kind":"arxiv_version","alias_value":"2405.02897v1","created_at":"2026-07-05T08:15:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.02897","created_at":"2026-07-05T08:15:55Z"},{"alias_kind":"pith_short_12","alias_value":"Y3K5TUUFS26M","created_at":"2026-07-05T08:15:55Z"},{"alias_kind":"pith_short_16","alias_value":"Y3K5TUUFS26MEIJG","created_at":"2026-07-05T08:15:55Z"},{"alias_kind":"pith_short_8","alias_value":"Y3K5TUUF","created_at":"2026-07-05T08:15:55Z"}],"graph_snapshots":[{"event_id":"sha256:ec0226fba253348933223f365128ea4eaa00aa14d5e0d6f420fc677457141586","target":"graph","created_at":"2026-07-05T08:15:55Z","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/2405.02897/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we presented a reconfigurable pneumatic gripper with fingers that could be set in various configurations, such as hooking, supporting, closuring, and pinching. Each finger incorporates a dexterous joint, a rotating joint, and a customized plug-and-play visuotactile sensor, the DigiTac-v1.5, to control manipulation in real time. We propose a tactile kernel density","authors_text":"Chenghua Lu, Kailuan Tang, Max Yang, Nathan F. Lepora, Tianqi Yue","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-05T11:29:12Z","title":"DexiTac: Soft Dexterous Tactile Gripping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.02897","kind":"arxiv","version":1},"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":"sha256:438dd93e89f3a9d2c0d52d00f59cdbeaf88443d7bf98eed4b93a46111d19babb","target":"record","created_at":"2026-07-05T08:15:55Z","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":"d0737f9299a28a13647770218d3bb7785dcfd4afffe42d9f2f38810acab4e191","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-05T11:29:12Z","title_canon_sha256":"c63df7aca331ffcbed34e83c0ba27dfa4cb5447c189a3a6c95424f328fa361b7"},"schema_version":"1.0","source":{"id":"2405.02897","kind":"arxiv","version":1}},"canonical_sha256":"c6d5d9d28596bcc22126b783b5e998d7d75578f85d35a8daf736674d7ad48835","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c6d5d9d28596bcc22126b783b5e998d7d75578f85d35a8daf736674d7ad48835","first_computed_at":"2026-07-05T08:15:55.608603Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:15:55.608603Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WIq5R4iPR9XEDoPPvhCh435RvB8zdX6DGqfK5N5PJg0ebp4PDjkyi+fgvEBWs0mAYgkf3SkE2LkIo8ElQEd2AA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:15:55.609091Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.02897","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:438dd93e89f3a9d2c0d52d00f59cdbeaf88443d7bf98eed4b93a46111d19babb","sha256:ec0226fba253348933223f365128ea4eaa00aa14d5e0d6f420fc677457141586"],"state_sha256":"5eae4ebe6267c1186563c49801b77afec185b0bd46fc8f9c5ef4cb5b408c3791"}