Pith Number

pith:YF5ZF3M6

pith:2026:YF5ZF3M6WOTO72S4YJINPZ5DFS

not attested not anchored not stored refs pending

ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance

Gong Chen, Xiang Li, Yu Chen

arxiv:2608.05723 v1 · 2026-08-06 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YF5ZF3M6WOTO72S4YJINPZ5DFS}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-08-07T00:52:25.274830Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c17b92ed9eb3a6efea5cc250d7e7a32ca828c7b2dc7691931f14e38070230a00

Aliases

arxiv: 2608.05723 · arxiv_version: 2608.05723v1 · doi: 10.48550/arxiv.2608.05723 · pith_short_12: YF5ZF3M6WOTO · pith_short_16: YF5ZF3M6WOTO72S4 · pith_short_8: YF5ZF3M6

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/YF5ZF3M6WOTO72S4YJINPZ5DFS \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: c17b92ed9eb3a6efea5cc250d7e7a32ca828c7b2dc7691931f14e38070230a00

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cd7869e59ac818db245ffee555d2d9a6dd8fe906061cdd87a0d607c2b28db905",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-08-06T08:06:40Z",
    "title_canon_sha256": "541f025b0b590197edd74fdea383e10ac6725bcf1105482ddf3f6fc4ba8ee409"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2608.05723",
    "kind": "arxiv",
    "version": 1
  }
}