{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:JUJUHVZKQ4AOHXQGL2FO3YLDMW","short_pith_number":"pith:JUJUHVZK","canonical_record":{"source":{"id":"1808.02862","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T17:06:22Z","cross_cats_sorted":["physics.med-ph"],"title_canon_sha256":"0b553ad6ccc3e9a4fb354ee98256b37e29a24a3dede2641cd9e2abe3097bc34b","abstract_canon_sha256":"d0e4b3ad0b748c84b2981d1e3d50ab4093d8be795074f9fa2f0cf0d1a20a54fb"},"schema_version":"1.0"},"canonical_sha256":"4d1343d72a8700e3de065e8aede16365b52d2ca7428656b39484f1e57b53d782","source":{"kind":"arxiv","id":"1808.02862","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.02862","created_at":"2026-05-18T00:08:25Z"},{"alias_kind":"arxiv_version","alias_value":"1808.02862v1","created_at":"2026-05-18T00:08:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.02862","created_at":"2026-05-18T00:08:25Z"},{"alias_kind":"pith_short_12","alias_value":"JUJUHVZKQ4AO","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_16","alias_value":"JUJUHVZKQ4AOHXQG","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_8","alias_value":"JUJUHVZK","created_at":"2026-05-18T12:32:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:JUJUHVZKQ4AOHXQGL2FO3YLDMW","target":"record","payload":{"canonical_record":{"source":{"id":"1808.02862","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T17:06:22Z","cross_cats_sorted":["physics.med-ph"],"title_canon_sha256":"0b553ad6ccc3e9a4fb354ee98256b37e29a24a3dede2641cd9e2abe3097bc34b","abstract_canon_sha256":"d0e4b3ad0b748c84b2981d1e3d50ab4093d8be795074f9fa2f0cf0d1a20a54fb"},"schema_version":"1.0"},"canonical_sha256":"4d1343d72a8700e3de065e8aede16365b52d2ca7428656b39484f1e57b53d782","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:08:25.304650Z","signature_b64":"HZsdyh5cLUaW0k3hKYWZtLXyRm0J9z+7E+Bl1pjczz1HFh1AqAok4FKsw5RBYdK7ZkKmnSZQtttfFEq/TEU4DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4d1343d72a8700e3de065e8aede16365b52d2ca7428656b39484f1e57b53d782","last_reissued_at":"2026-05-18T00:08:25.304238Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:08:25.304238Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1808.02862","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":"2026-05-18T00:08:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K4aprU7Hc8xDL8w+c+yGl21ajYOCiQS1wUBFlZR2Mq1tb3iDoq887tfkxJ6qQ920FfOsFId+2EyiijPXEpZoBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-25T15:47:04.887872Z"},"content_sha256":"4d5b3183050af43e94f7083f80a31fe741ce1c61246d0b9024f5cd82ded431fb","schema_version":"1.0","event_id":"sha256:4d5b3183050af43e94f7083f80a31fe741ce1c61246d0b9024f5cd82ded431fb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:JUJUHVZKQ4AOHXQGL2FO3YLDMW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Novel Tactile Force Probe for Tissue Stiffness Classification","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["physics.med-ph"],"primary_cat":"cs.RO","authors_text":"Behafarid Darvish, Elham Shirzad, Roozbeh Khodambashi, Siamak Najarian","submitted_at":"2018-08-08T17:06:22Z","abstract_excerpt":"In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three peripheral bobbins were machined in the cylinder around which three coils have been wound. One of the coils was excited with an alternating current which caused a voltage to be induced in two other coils. A return spring was used to return the core to its initial position after it has been moved. The sensor was pressed against the surface of the object whose stiffn"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.02862","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":""},"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":"2026-05-18T00:08:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JOP5aWr4Q1DbM/QxSy9gNLrtHJbZwEvpTTI8FFXBTrIFk4ebvErRAFpfgVLb2p7os1EhSI7D9anGo7A3qdUhCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-25T15:47:04.888206Z"},"content_sha256":"e6077069c5b5defbe5169c7e931d940e75904f1da5376f7afae357d7938ea867","schema_version":"1.0","event_id":"sha256:e6077069c5b5defbe5169c7e931d940e75904f1da5376f7afae357d7938ea867"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JUJUHVZKQ4AOHXQGL2FO3YLDMW/bundle.json","state_url":"https://pith.science/pith/JUJUHVZKQ4AOHXQGL2FO3YLDMW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JUJUHVZKQ4AOHXQGL2FO3YLDMW/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":"2026-06-25T15:47:04Z","links":{"resolver":"https://pith.science/pith/JUJUHVZKQ4AOHXQGL2FO3YLDMW","bundle":"https://pith.science/pith/JUJUHVZKQ4AOHXQGL2FO3YLDMW/bundle.json","state":"https://pith.science/pith/JUJUHVZKQ4AOHXQGL2FO3YLDMW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JUJUHVZKQ4AOHXQGL2FO3YLDMW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:JUJUHVZKQ4AOHXQGL2FO3YLDMW","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":"d0e4b3ad0b748c84b2981d1e3d50ab4093d8be795074f9fa2f0cf0d1a20a54fb","cross_cats_sorted":["physics.med-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T17:06:22Z","title_canon_sha256":"0b553ad6ccc3e9a4fb354ee98256b37e29a24a3dede2641cd9e2abe3097bc34b"},"schema_version":"1.0","source":{"id":"1808.02862","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.02862","created_at":"2026-05-18T00:08:25Z"},{"alias_kind":"arxiv_version","alias_value":"1808.02862v1","created_at":"2026-05-18T00:08:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.02862","created_at":"2026-05-18T00:08:25Z"},{"alias_kind":"pith_short_12","alias_value":"JUJUHVZKQ4AO","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_16","alias_value":"JUJUHVZKQ4AOHXQG","created_at":"2026-05-18T12:32:31Z"},{"alias_kind":"pith_short_8","alias_value":"JUJUHVZK","created_at":"2026-05-18T12:32:31Z"}],"graph_snapshots":[{"event_id":"sha256:e6077069c5b5defbe5169c7e931d940e75904f1da5376f7afae357d7938ea867","target":"graph","created_at":"2026-05-18T00:08:25Z","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"},"paper":{"abstract_excerpt":"In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three peripheral bobbins were machined in the cylinder around which three coils have been wound. One of the coils was excited with an alternating current which caused a voltage to be induced in two other coils. A return spring was used to return the core to its initial position after it has been moved. The sensor was pressed against the surface of the object whose stiffn","authors_text":"Behafarid Darvish, Elham Shirzad, Roozbeh Khodambashi, Siamak Najarian","cross_cats":["physics.med-ph"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T17:06:22Z","title":"A Novel Tactile Force Probe for Tissue Stiffness Classification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.02862","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":"sha256:4d5b3183050af43e94f7083f80a31fe741ce1c61246d0b9024f5cd82ded431fb","target":"record","created_at":"2026-05-18T00:08:25Z","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":"d0e4b3ad0b748c84b2981d1e3d50ab4093d8be795074f9fa2f0cf0d1a20a54fb","cross_cats_sorted":["physics.med-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-08T17:06:22Z","title_canon_sha256":"0b553ad6ccc3e9a4fb354ee98256b37e29a24a3dede2641cd9e2abe3097bc34b"},"schema_version":"1.0","source":{"id":"1808.02862","kind":"arxiv","version":1}},"canonical_sha256":"4d1343d72a8700e3de065e8aede16365b52d2ca7428656b39484f1e57b53d782","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4d1343d72a8700e3de065e8aede16365b52d2ca7428656b39484f1e57b53d782","first_computed_at":"2026-05-18T00:08:25.304238Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:08:25.304238Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HZsdyh5cLUaW0k3hKYWZtLXyRm0J9z+7E+Bl1pjczz1HFh1AqAok4FKsw5RBYdK7ZkKmnSZQtttfFEq/TEU4DQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:08:25.304650Z","signed_message":"canonical_sha256_bytes"},"source_id":"1808.02862","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4d5b3183050af43e94f7083f80a31fe741ce1c61246d0b9024f5cd82ded431fb","sha256:e6077069c5b5defbe5169c7e931d940e75904f1da5376f7afae357d7938ea867"],"state_sha256":"129070ccf0528b74bcd3b92c47cdc5899e970534bc8309ad56865f2cbb5f55b9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"laeOwZP83jzxhNJI0nYvAwNj74Qu+B5TUjAxgV1qM8DXsE0L8bTfNHLneaL45qYMXM5rWM4GMjYp8pXpespCAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-25T15:47:04.890547Z","bundle_sha256":"d32b8f9b9eb21902573584e20070cbdcabac80349cc18caf9451391efdefd16c"}}