{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:N56CT3Y3F3CQB4AKGIRHXPLJGN","short_pith_number":"pith:N56CT3Y3","schema_version":"1.0","canonical_sha256":"6f7c29ef1b2ec500f00a32227bbd6933490ca78da49ecb364b29a3e46723ecce","source":{"kind":"arxiv","id":"2601.19098","version":2},"attestation_state":"computed","paper":{"title":"SimTO: A two-stage, simulation-driven topology optimization framework for bespoke soft robotic grippers","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Howard, Josh Pinskier, Kurt Enkera, Marcus Gallagher","submitted_at":"2026-01-27T02:01:16Z","abstract_excerpt":"Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing designs struggle to grasp feature-rich objects with high topological variability, including gears with sharp tooth profiles on automotive assembly lines, corals with fragile protrusions, or vegetables with irregular branching structures like broccoli. Unlike simple geometric primitives such as cubes or spheres, feature-rich objects lack a clear \"optimal\" contact surface, making them both difficult to grasp and susceptible to damage. Safe handl"},"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":"2601.19098","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-01-27T02:01:16Z","cross_cats_sorted":[],"title_canon_sha256":"c207b867a0c147791137fba9a9d8e32aa5c8ba1cc28433c97f2e7785d9efbf04","abstract_canon_sha256":"20a2d334da0013ebee6fefe7f21dc2003573c25f5e44f79d893e4bafc2829277"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:09:54.052178Z","signature_b64":"BGU8exHkMEp0LQDkHBe9eOuBDBbz7qGvEy6qS2Hz8RmZ4R6VdP1C12/jb4oAuAS2ZvQ07Mhm3me3HqrF2x50Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6f7c29ef1b2ec500f00a32227bbd6933490ca78da49ecb364b29a3e46723ecce","last_reissued_at":"2026-06-19T16:09:54.051731Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:09:54.051731Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"SimTO: A two-stage, simulation-driven topology optimization framework for bespoke soft robotic grippers","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Howard, Josh Pinskier, Kurt Enkera, Marcus Gallagher","submitted_at":"2026-01-27T02:01:16Z","abstract_excerpt":"Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing designs struggle to grasp feature-rich objects with high topological variability, including gears with sharp tooth profiles on automotive assembly lines, corals with fragile protrusions, or vegetables with irregular branching structures like broccoli. Unlike simple geometric primitives such as cubes or spheres, feature-rich objects lack a clear \"optimal\" contact surface, making them both difficult to grasp and susceptible to damage. Safe handl"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.19098","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/2601.19098/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":"2601.19098","created_at":"2026-06-19T16:09:54.051787+00:00"},{"alias_kind":"arxiv_version","alias_value":"2601.19098v2","created_at":"2026-06-19T16:09:54.051787+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.19098","created_at":"2026-06-19T16:09:54.051787+00:00"},{"alias_kind":"pith_short_12","alias_value":"N56CT3Y3F3CQ","created_at":"2026-06-19T16:09:54.051787+00:00"},{"alias_kind":"pith_short_16","alias_value":"N56CT3Y3F3CQB4AK","created_at":"2026-06-19T16:09:54.051787+00:00"},{"alias_kind":"pith_short_8","alias_value":"N56CT3Y3","created_at":"2026-06-19T16:09:54.051787+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/N56CT3Y3F3CQB4AKGIRHXPLJGN","json":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN.json","graph_json":"https://pith.science/api/pith-number/N56CT3Y3F3CQB4AKGIRHXPLJGN/graph.json","events_json":"https://pith.science/api/pith-number/N56CT3Y3F3CQB4AKGIRHXPLJGN/events.json","paper":"https://pith.science/paper/N56CT3Y3"},"agent_actions":{"view_html":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN","download_json":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN.json","view_paper":"https://pith.science/paper/N56CT3Y3","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2601.19098&json=true","fetch_graph":"https://pith.science/api/pith-number/N56CT3Y3F3CQB4AKGIRHXPLJGN/graph.json","fetch_events":"https://pith.science/api/pith-number/N56CT3Y3F3CQB4AKGIRHXPLJGN/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN/action/timestamp_anchor","attest_storage":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN/action/storage_attestation","attest_author":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN/action/author_attestation","sign_citation":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN/action/citation_signature","submit_replication":"https://pith.science/pith/N56CT3Y3F3CQB4AKGIRHXPLJGN/action/replication_record"}},"created_at":"2026-06-19T16:09:54.051787+00:00","updated_at":"2026-06-19T16:09:54.051787+00:00"}