Pith Number

pith:KA3WQIRG

pith:2026:KA3WQIRGGFCBMCB55AG7DZIQOR

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Simulation of Adaptive Running with Flexible Sports Prosthesis using Reinforcement Learning of Hybrid-link System

Ko Yamamoto, Yuta Shimane

A reinforcement learning system with a hybrid-link model simulates amputee running motions and shows that prosthetic stiffness changes metabolic energy cost.

arxiv:2604.08882 v2 · 2026-04-10 · cs.RO

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\pithnumber{KA3WQIRGGFCBMCB55AG7DZIQOR}

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Record completeness

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4 Citations 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 simulated running motions under different virtual prosthetic stiffness conditions and analyzed the metabolic cost of transport obtained from the simulations, suggesting that variations in stiffness influence running performance.

C2weakest assumption

The hybrid-link system with the Piece-wise Constant Strain model, combined with imitation learning from motion capture, produces whole-body dynamics that are sufficiently realistic to support conclusions about how real prosthetic stiffness affects metabolic cost and performance.

C3one line summary

Reinforcement learning on a hybrid-link model of a flexible sports prosthesis generates simulated running motions for amputees and indicates that prosthesis stiffness affects metabolic cost and performance.

Receipt and verification

First computed	2026-06-05T01:14:38.167769Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5037682226314416083de80df1e51074667327e4d6f98e2c3ab55c4bfe131342

Aliases

arxiv: 2604.08882 · arxiv_version: 2604.08882v2 · doi: 10.48550/arxiv.2604.08882 · pith_short_12: KA3WQIRGGFCB · pith_short_16: KA3WQIRGGFCBMCB5 · pith_short_8: KA3WQIRG

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/KA3WQIRGGFCBMCB55AG7DZIQOR \
  | 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: 5037682226314416083de80df1e51074667327e4d6f98e2c3ab55c4bfe131342

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ef8ba6ec90952bf379381e3c73781f2529bd83ab6b11db755915386f97f6c133",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-10T02:44:29Z",
    "title_canon_sha256": "7dfab9ed40bc3ef118a296d87fccd91386f16e3d24ec921ba9d4071e3c210173"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.08882",
    "kind": "arxiv",
    "version": 2
  }
}