Pith Number

pith:2X5LW5MP

pith:2017:2X5LW5MPVNPYSNUFQHREALVDVV

not attested not anchored not stored refs pending

Contact Force and Joint Torque Estimation Using Skin

Daniele Pucci, Francesco Nori, Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro

arxiv:1709.06902 v1 · 2017-09-20 · 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{2X5LW5MPVNPYSNUFQHREALVDVV}

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	2026-05-18T00:34:40.125587Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d5fabb758fab5f89368581e2402ea3ad538503cce46aad17401828c6e5109686

Aliases

arxiv: 1709.06902 · arxiv_version: 1709.06902v1 · doi: 10.48550/arxiv.1709.06902 · pith_short_12: 2X5LW5MPVNPY · pith_short_16: 2X5LW5MPVNPYSNUF · pith_short_8: 2X5LW5MP

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/2X5LW5MPVNPYSNUFQHREALVDVV \
  | 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: d5fabb758fab5f89368581e2402ea3ad538503cce46aad17401828c6e5109686

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2f5925beccdd6ce668788480e134c48ec3de7723de752703f2bf3f9c1f5b8612",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-09-20T14:32:24Z",
    "title_canon_sha256": "a5ccf1ef1dceeaab0a5edae95e88b00d89722c4d8dada105712006ab3f128a1f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1709.06902",
    "kind": "arxiv",
    "version": 1
  }
}