{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:Z3LOKPUTCX3UAJRDCJC4ZYILM5","short_pith_number":"pith:Z3LOKPUT","canonical_record":{"source":{"id":"1910.04787","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-10T18:06:31Z","cross_cats_sorted":[],"title_canon_sha256":"55d50bc27372a74267a9c6fe02c66204615ca2c55882f18ba972fdce87c5a25e","abstract_canon_sha256":"166e2a9761d322eca9c2fea5d81c5ea77362d28372a7d8a5fb7447be99d224c6"},"schema_version":"1.0"},"canonical_sha256":"ced6e53e9315f74026231245cce10b6764fee21ea28d4aa29fc1c76dfa715176","source":{"kind":"arxiv","id":"1910.04787","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1910.04787","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"arxiv_version","alias_value":"1910.04787v1","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1910.04787","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"pith_short_12","alias_value":"Z3LOKPUTCX3U","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"pith_short_16","alias_value":"Z3LOKPUTCX3UAJRD","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"pith_short_8","alias_value":"Z3LOKPUT","created_at":"2026-07-05T00:11:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:Z3LOKPUTCX3UAJRDCJC4ZYILM5","target":"record","payload":{"canonical_record":{"source":{"id":"1910.04787","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-10T18:06:31Z","cross_cats_sorted":[],"title_canon_sha256":"55d50bc27372a74267a9c6fe02c66204615ca2c55882f18ba972fdce87c5a25e","abstract_canon_sha256":"166e2a9761d322eca9c2fea5d81c5ea77362d28372a7d8a5fb7447be99d224c6"},"schema_version":"1.0"},"canonical_sha256":"ced6e53e9315f74026231245cce10b6764fee21ea28d4aa29fc1c76dfa715176","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:11:22.843397Z","signature_b64":"aXyyQpC8TKA04BwK5CSSm66rG61jVBxIIcUnp6gWZfi7QuJAwrcwy6ZUf7BZKH+x8wmCtzVX1f0JtlU6yq2jCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ced6e53e9315f74026231245cce10b6764fee21ea28d4aa29fc1c76dfa715176","last_reissued_at":"2026-07-05T00:11:22.842911Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:11:22.842911Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1910.04787","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:11:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eJ0uhEe9R74FIDANAIJCsGzmTJfqr0KpoCkIuzlW6lUtf0iTXoD4iSE9uh/ql5kQYQbIBClrqUtuy+XWUozsCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T20:57:09.695298Z"},"content_sha256":"a2ef51981cdc7af3f34049f862f5375dd27f8c7edd8840ef5a87b8f6c52f31e0","schema_version":"1.0","event_id":"sha256:a2ef51981cdc7af3f34049f862f5375dd27f8c7edd8840ef5a87b8f6c52f31e0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:Z3LOKPUTCX3UAJRDCJC4ZYILM5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design and Prototyping of a Bio-inspired Kinematic Sensing Suit for the Shoulder Joint: Precursor to a Multi-DoF Shoulder Exosuit","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Benny P L Lo, Guang-Zhong Yang, Rejin John Varghese","submitted_at":"2019-10-10T18:06:31Z","abstract_excerpt":"Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require robust and compliant sensing mechanisms. In this work, we introduce the sensing framework for a multi-DoF shoulder exosuit capable of sensing the kinematics of the shoulder joint. The proposed tendon-based sensing system is inspired by the concept of muscle synergies, the body's sense of proprioception, and finds its basis in the organization of the muscles resp"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.04787","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1910.04787/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T00:11:22Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8YMDzfNYJzfGRPmyPOXHvd+jXuEAx4y5oiajrC17vfusmuNeHPz3jLzSy2dYqyJgBfvDTB1nJ5RuVanGMutfAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T20:57:09.696074Z"},"content_sha256":"071e97c72badb28b8f37b0c7590f7ff9ae7f8d466549665e01741220a9363694","schema_version":"1.0","event_id":"sha256:071e97c72badb28b8f37b0c7590f7ff9ae7f8d466549665e01741220a9363694"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Z3LOKPUTCX3UAJRDCJC4ZYILM5/bundle.json","state_url":"https://pith.science/pith/Z3LOKPUTCX3UAJRDCJC4ZYILM5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Z3LOKPUTCX3UAJRDCJC4ZYILM5/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":"2026-08-15T20:57:09Z","links":{"resolver":"https://pith.science/pith/Z3LOKPUTCX3UAJRDCJC4ZYILM5","bundle":"https://pith.science/pith/Z3LOKPUTCX3UAJRDCJC4ZYILM5/bundle.json","state":"https://pith.science/pith/Z3LOKPUTCX3UAJRDCJC4ZYILM5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Z3LOKPUTCX3UAJRDCJC4ZYILM5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:Z3LOKPUTCX3UAJRDCJC4ZYILM5","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":"166e2a9761d322eca9c2fea5d81c5ea77362d28372a7d8a5fb7447be99d224c6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-10T18:06:31Z","title_canon_sha256":"55d50bc27372a74267a9c6fe02c66204615ca2c55882f18ba972fdce87c5a25e"},"schema_version":"1.0","source":{"id":"1910.04787","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1910.04787","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"arxiv_version","alias_value":"1910.04787v1","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1910.04787","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"pith_short_12","alias_value":"Z3LOKPUTCX3U","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"pith_short_16","alias_value":"Z3LOKPUTCX3UAJRD","created_at":"2026-07-05T00:11:22Z"},{"alias_kind":"pith_short_8","alias_value":"Z3LOKPUT","created_at":"2026-07-05T00:11:22Z"}],"graph_snapshots":[{"event_id":"sha256:071e97c72badb28b8f37b0c7590f7ff9ae7f8d466549665e01741220a9363694","target":"graph","created_at":"2026-07-05T00:11:22Z","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/1910.04787/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require robust and compliant sensing mechanisms. In this work, we introduce the sensing framework for a multi-DoF shoulder exosuit capable of sensing the kinematics of the shoulder joint. The proposed tendon-based sensing system is inspired by the concept of muscle synergies, the body's sense of proprioception, and finds its basis in the organization of the muscles resp","authors_text":"Benny P L Lo, Guang-Zhong Yang, Rejin John Varghese","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-10T18:06:31Z","title":"Design and Prototyping of a Bio-inspired Kinematic Sensing Suit for the Shoulder Joint: Precursor to a Multi-DoF Shoulder Exosuit"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.04787","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:a2ef51981cdc7af3f34049f862f5375dd27f8c7edd8840ef5a87b8f6c52f31e0","target":"record","created_at":"2026-07-05T00:11:22Z","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":"166e2a9761d322eca9c2fea5d81c5ea77362d28372a7d8a5fb7447be99d224c6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-10-10T18:06:31Z","title_canon_sha256":"55d50bc27372a74267a9c6fe02c66204615ca2c55882f18ba972fdce87c5a25e"},"schema_version":"1.0","source":{"id":"1910.04787","kind":"arxiv","version":1}},"canonical_sha256":"ced6e53e9315f74026231245cce10b6764fee21ea28d4aa29fc1c76dfa715176","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ced6e53e9315f74026231245cce10b6764fee21ea28d4aa29fc1c76dfa715176","first_computed_at":"2026-07-05T00:11:22.842911Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:11:22.842911Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aXyyQpC8TKA04BwK5CSSm66rG61jVBxIIcUnp6gWZfi7QuJAwrcwy6ZUf7BZKH+x8wmCtzVX1f0JtlU6yq2jCg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:11:22.843397Z","signed_message":"canonical_sha256_bytes"},"source_id":"1910.04787","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a2ef51981cdc7af3f34049f862f5375dd27f8c7edd8840ef5a87b8f6c52f31e0","sha256:071e97c72badb28b8f37b0c7590f7ff9ae7f8d466549665e01741220a9363694"],"state_sha256":"701a7c30340a0515a7162db4892cd4bb4aca92c56bba9e80f017df3b26a37faf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rt+1mqiKj6Dla+GhuxggRQ8vV8kEXiuIudj7kYs8O6Xh/V00O8zED2KszCeBnS3fEArZzdKiKqc1dTz8tiJhDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T20:57:09.701933Z","bundle_sha256":"54a32bb11f4b044755e7b3be5dda149bab3e7e2ecc7ee4c5d85ac5ec8580ff0d"}}