Pith Number

pith:5VDK5FXO

pith:2025:5VDK5FXOF5E5IACEUGI3CX3X6G

not attested not anchored not stored refs pending

Electrostatic Clutch-Based Mechanical Multiplexer with Increased Force Capability

Chad C. Kessens, Jeffrey I. Lipton, Jeffrey T. Auletta, Joshua R. Smith, Timothy E. Amish

Electrostatic capstan clutches let one motor drive a four-DoF robotic hand to 212 N output forces.

arxiv:2501.08469 v5 · 2025-01-14 · cs.RO · cs.SY · eess.SY

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\usepackage{pith}
\pithnumber{5VDK5FXOF5E5IACEUGI3CX3X6G}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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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.

Claims

C1strongest claim

We demonstrated these on a four-DoF tendon-driven robotic hand where a single motor achieved output forces of up to 212 N, increased vertical grip strength by 4.09 times, and raised horizontal carrying capacity to 111.2 N, the highest currently among five-fingered tendon-driven robotic hands.

C2weakest assumption

The electrostatic clutches transmit the reported high forces reliably without slippage, wear, or control overhead that would reduce net output under the tested multiplexing conditions.

C3one line summary

An electrostatic capstan clutch multiplexer enables single-motor SISO and SIMO control of tendon outputs, demonstrated on a four-DoF hand with 212 N forces, 4.09x grip increase, and 111.2 N horizontal carry capacity.

Receipt and verification

First computed	2026-08-05T00:40:39.000076Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ed46ae96ee2f49d40044a191b15f77f189ad72b88c61aac08af1451a7334dfc1

Aliases

arxiv: 2501.08469 · arxiv_version: 2501.08469v5 · doi: 10.48550/arxiv.2501.08469 · pith_short_12: 5VDK5FXOF5E5 · pith_short_16: 5VDK5FXOF5E5IACE · pith_short_8: 5VDK5FXO

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/5VDK5FXOF5E5IACEUGI3CX3X6G \
  | 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: ed46ae96ee2f49d40044a191b15f77f189ad72b88c61aac08af1451a7334dfc1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "738a58b3ee12a8bf43f1e63ca2c7f653d9e3a62396bcfac6e96d8c7a706966a4",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-01-14T22:30:38Z",
    "title_canon_sha256": "c324158508dbf971f31928341bede2826aced188ba02bff2a27c97cd79fe5af3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2501.08469",
    "kind": "arxiv",
    "version": 5
  }
}