{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:YP4Q4RDF6HQXG3F2ZBJMXB6G6I","short_pith_number":"pith:YP4Q4RDF","canonical_record":{"source":{"id":"1805.06270","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-16T12:26:37Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"348ef944c4a77ede34887599929de89228b78fdcedf17116f0fd5b656df08dfc","abstract_canon_sha256":"453dde84de2147058c361c013dab037bd018bef016aaa5048f956b4273cd07e1"},"schema_version":"1.0"},"canonical_sha256":"c3f90e4465f1e1736cbac852cb87c6f23bd8baeaf2d6877cff91346b6257bc58","source":{"kind":"arxiv","id":"1805.06270","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.06270","created_at":"2026-05-17T23:51:59Z"},{"alias_kind":"arxiv_version","alias_value":"1805.06270v3","created_at":"2026-05-17T23:51:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.06270","created_at":"2026-05-17T23:51:59Z"},{"alias_kind":"pith_short_12","alias_value":"YP4Q4RDF6HQX","created_at":"2026-05-18T12:33:04Z"},{"alias_kind":"pith_short_16","alias_value":"YP4Q4RDF6HQXG3F2","created_at":"2026-05-18T12:33:04Z"},{"alias_kind":"pith_short_8","alias_value":"YP4Q4RDF","created_at":"2026-05-18T12:33:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:YP4Q4RDF6HQXG3F2ZBJMXB6G6I","target":"record","payload":{"canonical_record":{"source":{"id":"1805.06270","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-16T12:26:37Z","cross_cats_sorted":["cs.HC"],"title_canon_sha256":"348ef944c4a77ede34887599929de89228b78fdcedf17116f0fd5b656df08dfc","abstract_canon_sha256":"453dde84de2147058c361c013dab037bd018bef016aaa5048f956b4273cd07e1"},"schema_version":"1.0"},"canonical_sha256":"c3f90e4465f1e1736cbac852cb87c6f23bd8baeaf2d6877cff91346b6257bc58","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:51:59.000639Z","signature_b64":"bZTeklMesDdKEH1CTMOmPtDkF9xaSenn2FesabKIAOTOUo5FWbGa31b6Nbb62Jc0Bq80lXZ+virg9KWlb60oAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c3f90e4465f1e1736cbac852cb87c6f23bd8baeaf2d6877cff91346b6257bc58","last_reissued_at":"2026-05-17T23:51:59.000253Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:51:59.000253Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.06270","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:51:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"t+sntw/IB1DROIIsqsJtG0iYEG3JvlEGbg/rIkWSZ1nqveIcn4r3Spd8tFTK1CM0PK9j6CbKPIJEUUhwFlCYAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T05:32:58.974571Z"},"content_sha256":"4d1c7050e2b2d7a7d4a18518b4dbceaedff58956540ca62e75f4d2935ae78658","schema_version":"1.0","event_id":"sha256:4d1c7050e2b2d7a7d4a18518b4dbceaedff58956540ca62e75f4d2935ae78658"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:YP4Q4RDF6HQXG3F2ZBJMXB6G6I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-time Robot-assisted Ergonomics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Ahmad Ataka, Ali Shafti, Ali Shiva, Beatriz Urbistondo Lazpita, Helge A. Wurdemann, Kaspar Althoefer","submitted_at":"2018-05-16T12:26:37Z","abstract_excerpt":"This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate cooperative robot movements, the user's posture is, whenever required, brought back to an ergonomic optimum. Effectively, the new protocol optimises the human-robot relative position and orientation as a function of human ergonomics. An RGB-D camera is used to calculate and monitor human joint angles in real-time and to determine the current ergonomics state. A tota"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.06270","kind":"arxiv","version":3},"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":"2026-05-17T23:51:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CaJk7ieCs2UKOOAbqmNzu5J/3Um3iNW1/tG3USnao9O/7CsceMpIgqVVoF0RKQmM61vbUpeh8P/YJpj27xeaAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T05:32:58.975051Z"},"content_sha256":"e6985829b1ed61548e816fb8621995c10ca54a5ed515b17ef04d5f65ce5b3309","schema_version":"1.0","event_id":"sha256:e6985829b1ed61548e816fb8621995c10ca54a5ed515b17ef04d5f65ce5b3309"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YP4Q4RDF6HQXG3F2ZBJMXB6G6I/bundle.json","state_url":"https://pith.science/pith/YP4Q4RDF6HQXG3F2ZBJMXB6G6I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YP4Q4RDF6HQXG3F2ZBJMXB6G6I/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":"2026-05-26T05:32:58Z","links":{"resolver":"https://pith.science/pith/YP4Q4RDF6HQXG3F2ZBJMXB6G6I","bundle":"https://pith.science/pith/YP4Q4RDF6HQXG3F2ZBJMXB6G6I/bundle.json","state":"https://pith.science/pith/YP4Q4RDF6HQXG3F2ZBJMXB6G6I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YP4Q4RDF6HQXG3F2ZBJMXB6G6I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:YP4Q4RDF6HQXG3F2ZBJMXB6G6I","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":"453dde84de2147058c361c013dab037bd018bef016aaa5048f956b4273cd07e1","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-16T12:26:37Z","title_canon_sha256":"348ef944c4a77ede34887599929de89228b78fdcedf17116f0fd5b656df08dfc"},"schema_version":"1.0","source":{"id":"1805.06270","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.06270","created_at":"2026-05-17T23:51:59Z"},{"alias_kind":"arxiv_version","alias_value":"1805.06270v3","created_at":"2026-05-17T23:51:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.06270","created_at":"2026-05-17T23:51:59Z"},{"alias_kind":"pith_short_12","alias_value":"YP4Q4RDF6HQX","created_at":"2026-05-18T12:33:04Z"},{"alias_kind":"pith_short_16","alias_value":"YP4Q4RDF6HQXG3F2","created_at":"2026-05-18T12:33:04Z"},{"alias_kind":"pith_short_8","alias_value":"YP4Q4RDF","created_at":"2026-05-18T12:33:04Z"}],"graph_snapshots":[{"event_id":"sha256:e6985829b1ed61548e816fb8621995c10ca54a5ed515b17ef04d5f65ce5b3309","target":"graph","created_at":"2026-05-17T23:51:59Z","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":"This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate cooperative robot movements, the user's posture is, whenever required, brought back to an ergonomic optimum. Effectively, the new protocol optimises the human-robot relative position and orientation as a function of human ergonomics. An RGB-D camera is used to calculate and monitor human joint angles in real-time and to determine the current ergonomics state. A tota","authors_text":"Ahmad Ataka, Ali Shafti, Ali Shiva, Beatriz Urbistondo Lazpita, Helge A. Wurdemann, Kaspar Althoefer","cross_cats":["cs.HC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-16T12:26:37Z","title":"Real-time Robot-assisted Ergonomics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.06270","kind":"arxiv","version":3},"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":"sha256:4d1c7050e2b2d7a7d4a18518b4dbceaedff58956540ca62e75f4d2935ae78658","target":"record","created_at":"2026-05-17T23:51:59Z","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":"453dde84de2147058c361c013dab037bd018bef016aaa5048f956b4273cd07e1","cross_cats_sorted":["cs.HC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-16T12:26:37Z","title_canon_sha256":"348ef944c4a77ede34887599929de89228b78fdcedf17116f0fd5b656df08dfc"},"schema_version":"1.0","source":{"id":"1805.06270","kind":"arxiv","version":3}},"canonical_sha256":"c3f90e4465f1e1736cbac852cb87c6f23bd8baeaf2d6877cff91346b6257bc58","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c3f90e4465f1e1736cbac852cb87c6f23bd8baeaf2d6877cff91346b6257bc58","first_computed_at":"2026-05-17T23:51:59.000253Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:51:59.000253Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bZTeklMesDdKEH1CTMOmPtDkF9xaSenn2FesabKIAOTOUo5FWbGa31b6Nbb62Jc0Bq80lXZ+virg9KWlb60oAQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:51:59.000639Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.06270","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4d1c7050e2b2d7a7d4a18518b4dbceaedff58956540ca62e75f4d2935ae78658","sha256:e6985829b1ed61548e816fb8621995c10ca54a5ed515b17ef04d5f65ce5b3309"],"state_sha256":"2f815d791db5a6c03173ae49405d21a08a7ba96a9ecadd6b3c791b76826e6a4c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OO7NTm4O0gwTThtjVIdhG3JO3y3fJtrp+rmQUX3nBcQ03PwAImJZhliU7NS6Gq6mtlZMuqZYeQbt30QJDFMpCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T05:32:58.977994Z","bundle_sha256":"3f1e3b38b9aa78754b4a9ad9a0441d71e9098f3ebe6d5b66619a8740c35a2571"}}