Pith Number

pith:CN4CLKQ3

pith:2023:CN4CLKQ36HQFHWBU5SQ2A465MU

not attested not anchored not stored refs pending

Haptic Transparency and Interaction Force Control for a Lower-Limb Exoskeleton

Daniel Ludvig, Emek Bar{\i}\c{s} K\"u\c{c}\"uktabak, Eric Perreault, Jose Pons, Kevin Lynch, Levi Hargrove, Matthew Short, Sangjoon J. Kim, Yue Wen

arxiv:2301.06244 v3 · 2023-01-16 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{CN4CLKQ36HQFHWBU5SQ2A465MU}

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	2026-07-05T07:36:20.087581Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

137825aa1bf1e053d834eca1a073dd6502c00b4b479370d12e8675b0e98841f7

Aliases

arxiv: 2301.06244 · arxiv_version: 2301.06244v3 · doi: 10.48550/arxiv.2301.06244 · pith_short_12: CN4CLKQ36HQF · pith_short_16: CN4CLKQ36HQFHWBU · pith_short_8: CN4CLKQ3

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/CN4CLKQ36HQFHWBU5SQ2A465MU \
  | 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: 137825aa1bf1e053d834eca1a073dd6502c00b4b479370d12e8675b0e98841f7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c7f5bedec2d3d20305c875cad050e938079578209481bc74a5950277169556ae",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-01-16T03:12:38Z",
    "title_canon_sha256": "fb83556c20abf67e5a8eaefc6f70c4df438da8bf1dfaff9bfd8b8bd9156dc4fe"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2301.06244",
    "kind": "arxiv",
    "version": 3
  }
}