{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:Y5DXJLTVUWW3ASMHVZGNSPAVON","short_pith_number":"pith:Y5DXJLTV","canonical_record":{"source":{"id":"1904.02111","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T17:16:23Z","cross_cats_sorted":[],"title_canon_sha256":"9f9197b353910f3583e35b99edc2258c3ac5470619b7abd660d53f157ccbce15","abstract_canon_sha256":"2fc871394f3704e1899d35c1d0062a111f5cbaea50da3a74015289be6c6f5f2d"},"schema_version":"1.0"},"canonical_sha256":"c74774ae75a5adb04987ae4cd93c15737918bec376912c8564fc1ab3ed3fe69b","source":{"kind":"arxiv","id":"1904.02111","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.02111","created_at":"2026-05-17T23:45:09Z"},{"alias_kind":"arxiv_version","alias_value":"1904.02111v2","created_at":"2026-05-17T23:45:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.02111","created_at":"2026-05-17T23:45:09Z"},{"alias_kind":"pith_short_12","alias_value":"Y5DXJLTVUWW3","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"Y5DXJLTVUWW3ASMH","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"Y5DXJLTV","created_at":"2026-05-18T12:33:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:Y5DXJLTVUWW3ASMHVZGNSPAVON","target":"record","payload":{"canonical_record":{"source":{"id":"1904.02111","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T17:16:23Z","cross_cats_sorted":[],"title_canon_sha256":"9f9197b353910f3583e35b99edc2258c3ac5470619b7abd660d53f157ccbce15","abstract_canon_sha256":"2fc871394f3704e1899d35c1d0062a111f5cbaea50da3a74015289be6c6f5f2d"},"schema_version":"1.0"},"canonical_sha256":"c74774ae75a5adb04987ae4cd93c15737918bec376912c8564fc1ab3ed3fe69b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:45:09.046766Z","signature_b64":"udaunBLOKtI+1Z785JgWUsouaJT6MigZn0ImEjp1C2no64qmoWWC0Co2CDMwITl6vEZ0wu+FR0H7Nbvx7WMDBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c74774ae75a5adb04987ae4cd93c15737918bec376912c8564fc1ab3ed3fe69b","last_reissued_at":"2026-05-17T23:45:09.046090Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:45:09.046090Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.02111","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":"2026-05-17T23:45:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"noaVznF4b1OX5LfWu2EHuOmr9YBl1IqbARDIvdhki4PqJefutVca1uj1V54PpRbYBgBICXUldNJe4e8T7D5RCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T19:19:38.453533Z"},"content_sha256":"e5461ae95c6a9a4b44f54758ea095ecd6544212095982fbe7cb19c325d487a9e","schema_version":"1.0","event_id":"sha256:e5461ae95c6a9a4b44f54758ea095ecd6544212095982fbe7cb19c325d487a9e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:Y5DXJLTVUWW3ASMHVZGNSPAVON","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Charles C. Kemp, C. Karen Liu, Greg Turk, Henry M. Clever, Vamsee Gangaram, Zackory Erickson","submitted_at":"2019-04-03T17:16:23Z","abstract_excerpt":"Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.02111","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":"2026-05-17T23:45:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Op8ggf+YKWPoF4lE1wMYPGq/vQM7Poz3trpipHAYIrOQqDrPiaZKZcV+tMIvnVM4ExPcVOfQw6S27l+SAqgaAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T19:19:38.454155Z"},"content_sha256":"035704d99bef26e593189fe52671eff219bd7b7d3d849c35e59f3c3f5e6d248b","schema_version":"1.0","event_id":"sha256:035704d99bef26e593189fe52671eff219bd7b7d3d849c35e59f3c3f5e6d248b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Y5DXJLTVUWW3ASMHVZGNSPAVON/bundle.json","state_url":"https://pith.science/pith/Y5DXJLTVUWW3ASMHVZGNSPAVON/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Y5DXJLTVUWW3ASMHVZGNSPAVON/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":"2026-05-25T19:19:38Z","links":{"resolver":"https://pith.science/pith/Y5DXJLTVUWW3ASMHVZGNSPAVON","bundle":"https://pith.science/pith/Y5DXJLTVUWW3ASMHVZGNSPAVON/bundle.json","state":"https://pith.science/pith/Y5DXJLTVUWW3ASMHVZGNSPAVON/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Y5DXJLTVUWW3ASMHVZGNSPAVON/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:Y5DXJLTVUWW3ASMHVZGNSPAVON","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":"2fc871394f3704e1899d35c1d0062a111f5cbaea50da3a74015289be6c6f5f2d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T17:16:23Z","title_canon_sha256":"9f9197b353910f3583e35b99edc2258c3ac5470619b7abd660d53f157ccbce15"},"schema_version":"1.0","source":{"id":"1904.02111","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.02111","created_at":"2026-05-17T23:45:09Z"},{"alias_kind":"arxiv_version","alias_value":"1904.02111v2","created_at":"2026-05-17T23:45:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.02111","created_at":"2026-05-17T23:45:09Z"},{"alias_kind":"pith_short_12","alias_value":"Y5DXJLTVUWW3","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"Y5DXJLTVUWW3ASMH","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"Y5DXJLTV","created_at":"2026-05-18T12:33:33Z"}],"graph_snapshots":[{"event_id":"sha256:035704d99bef26e593189fe52671eff219bd7b7d3d849c35e59f3c3f5e6d248b","target":"graph","created_at":"2026-05-17T23:45:09Z","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":"Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on","authors_text":"Charles C. Kemp, C. Karen Liu, Greg Turk, Henry M. Clever, Vamsee Gangaram, Zackory Erickson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T17:16:23Z","title":"Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.02111","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:e5461ae95c6a9a4b44f54758ea095ecd6544212095982fbe7cb19c325d487a9e","target":"record","created_at":"2026-05-17T23:45:09Z","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":"2fc871394f3704e1899d35c1d0062a111f5cbaea50da3a74015289be6c6f5f2d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-03T17:16:23Z","title_canon_sha256":"9f9197b353910f3583e35b99edc2258c3ac5470619b7abd660d53f157ccbce15"},"schema_version":"1.0","source":{"id":"1904.02111","kind":"arxiv","version":2}},"canonical_sha256":"c74774ae75a5adb04987ae4cd93c15737918bec376912c8564fc1ab3ed3fe69b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c74774ae75a5adb04987ae4cd93c15737918bec376912c8564fc1ab3ed3fe69b","first_computed_at":"2026-05-17T23:45:09.046090Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:45:09.046090Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"udaunBLOKtI+1Z785JgWUsouaJT6MigZn0ImEjp1C2no64qmoWWC0Co2CDMwITl6vEZ0wu+FR0H7Nbvx7WMDBw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:45:09.046766Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.02111","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e5461ae95c6a9a4b44f54758ea095ecd6544212095982fbe7cb19c325d487a9e","sha256:035704d99bef26e593189fe52671eff219bd7b7d3d849c35e59f3c3f5e6d248b"],"state_sha256":"3da0ac9bec75697b0351e79f9c67941327062b36ef1f02e6e9fe1ee0419709eb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K9kADHFJLicAgsmTkbaDk/KPhoB/yFaAs/FCUzjBh7AaGCFECGGdZMIqGP29hDt3TmoG/tlQOsmwf6SH+S0UDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T19:19:38.457447Z","bundle_sha256":"ab61ce087a77d2fc5f4b08e5a401c6d06f3e8ce3f093773b8a47d8b3e5b5ede0"}}