{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:DAFC56KTFYA62HAJ5DHZQ73YYW","short_pith_number":"pith:DAFC56KT","schema_version":"1.0","canonical_sha256":"180a2ef9532e01ed1c09e8cf987f78c5be28744c84c5e08f98a5e25c5756ff4d","source":{"kind":"arxiv","id":"2206.13657","version":2},"attestation_state":"computed","paper":{"title":"DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ben Money-Coomes, John Lloyd, Nathan F. Lepora, Yijiong Lin","submitted_at":"2022-06-27T22:53:49Z","abstract_excerpt":"Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to high-resolution touch using GelSight-type sensors. Here we customize the DIGIT to have a 3D-printed sensing surface based on the TacTip family of soft biomimetic optical tactile sensors. The DIGIT-TacTip (DigiTac) enables direct comparison between these distinct tactile sensor types. For this comparison, we introduce a tactile robot system comprising a desktop arm"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2206.13657","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-27T22:53:49Z","cross_cats_sorted":[],"title_canon_sha256":"0818771e278408e41c1181b06a3b6d3eb8e7f72eddf1a2f22e2081deceaaa2a6","abstract_canon_sha256":"2e8f9593b1b69c4ce4be001d093ad03c2f2545d44861e2dcc2730508529743de"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:40:54.715153Z","signature_b64":"/nwyi0qFhrslOjWed0IoFjIgQW5hb1EN+xgZGzMEevKmDodOG70VrWaRH6rs7dGgkcGrbw1beUR0X22bb0D4Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"180a2ef9532e01ed1c09e8cf987f78c5be28744c84c5e08f98a5e25c5756ff4d","last_reissued_at":"2026-07-05T04:40:54.714763Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:40:54.714763Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ben Money-Coomes, John Lloyd, Nathan F. Lepora, Yijiong Lin","submitted_at":"2022-06-27T22:53:49Z","abstract_excerpt":"Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to high-resolution touch using GelSight-type sensors. Here we customize the DIGIT to have a 3D-printed sensing surface based on the TacTip family of soft biomimetic optical tactile sensors. The DIGIT-TacTip (DigiTac) enables direct comparison between these distinct tactile sensor types. For this comparison, we introduce a tactile robot system comprising a desktop arm"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.13657","kind":"arxiv","version":2},"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/2206.13657/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2206.13657","created_at":"2026-07-05T04:40:54.714819+00:00"},{"alias_kind":"arxiv_version","alias_value":"2206.13657v2","created_at":"2026-07-05T04:40:54.714819+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.13657","created_at":"2026-07-05T04:40:54.714819+00:00"},{"alias_kind":"pith_short_12","alias_value":"DAFC56KTFYA6","created_at":"2026-07-05T04:40:54.714819+00:00"},{"alias_kind":"pith_short_16","alias_value":"DAFC56KTFYA62HAJ","created_at":"2026-07-05T04:40:54.714819+00:00"},{"alias_kind":"pith_short_8","alias_value":"DAFC56KT","created_at":"2026-07-05T04:40:54.714819+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW","json":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW.json","graph_json":"https://pith.science/api/pith-number/DAFC56KTFYA62HAJ5DHZQ73YYW/graph.json","events_json":"https://pith.science/api/pith-number/DAFC56KTFYA62HAJ5DHZQ73YYW/events.json","paper":"https://pith.science/paper/DAFC56KT"},"agent_actions":{"view_html":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW","download_json":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW.json","view_paper":"https://pith.science/paper/DAFC56KT","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2206.13657&json=true","fetch_graph":"https://pith.science/api/pith-number/DAFC56KTFYA62HAJ5DHZQ73YYW/graph.json","fetch_events":"https://pith.science/api/pith-number/DAFC56KTFYA62HAJ5DHZQ73YYW/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW/action/timestamp_anchor","attest_storage":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW/action/storage_attestation","attest_author":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW/action/author_attestation","sign_citation":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW/action/citation_signature","submit_replication":"https://pith.science/pith/DAFC56KTFYA62HAJ5DHZQ73YYW/action/replication_record"}},"created_at":"2026-07-05T04:40:54.714819+00:00","updated_at":"2026-07-05T04:40:54.714819+00:00"}