Pith Number

pith:YF6Z4H5C

pith:2026:YF6Z4H5CD4NKZFVGW537XMURL7

not attested not anchored not stored refs pending

SoftPINCH: EMG-Driven Soft Exoskeleton Assistance for Finger Flexion and Grasping

Magnus Malthe Sigsgaard Nielsen, Nicklas Nikolaj Gr{\o}nvall, Saravana Prashanth Murali Babu, Xiaofeng Xiong

arxiv:2606.04776 v1 · 2026-06-03 · 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{YF6Z4H5CD4NKZFVGW537XMURL7}

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	2026-06-04T01:09:29.581976Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c17d9e1fa21f1aac96a6b777fbb2915fe8ce492ff495ea2e3a913296d85c8c71

Aliases

arxiv: 2606.04776 · arxiv_version: 2606.04776v1 · doi: 10.48550/arxiv.2606.04776 · pith_short_12: YF6Z4H5CD4NK · pith_short_16: YF6Z4H5CD4NKZFVG · pith_short_8: YF6Z4H5C

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/YF6Z4H5CD4NKZFVGW537XMURL7 \
  | 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: c17d9e1fa21f1aac96a6b777fbb2915fe8ce492ff495ea2e3a913296d85c8c71

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "125a0cf2460ae45fd1d119338aca2d509ed2997d6591a4ace0c838ad3e6636d8",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-03T11:59:27Z",
    "title_canon_sha256": "39710c7b9e9b49410b1c81323d7a21a33e752259f0c4a9a567eec0484260c3e3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.04776",
    "kind": "arxiv",
    "version": 1
  }
}