{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:WKK53RFX2DDZD2UUGJORQD62ZA","short_pith_number":"pith:WKK53RFX","schema_version":"1.0","canonical_sha256":"b295ddc4b7d0c791ea94325d180fdac81aef8098c284e736af3484281b0ff897","source":{"kind":"arxiv","id":"2201.12005","version":1},"attestation_state":"computed","paper":{"title":"GTac: A Biomimetic Tactile Sensor with Skin-like Heterogeneous Force Feedback for Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haoyong Yu, Xingyu Gao, Zeyu Lu","submitted_at":"2022-01-28T09:33:00Z","abstract_excerpt":"The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like grasping delicate objects. In this paper, we design and fabricate a novel biomimetic tactile sensor with skin-like heterogeneity that perceives normal and shear contact forces simultaneously. It mimics the multilayers of mechanoreceptors by combining an extrinsic layer (piezoresistive sensors) and an intrinsic layer (a Hall sensor) so that it can perform estim"},"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":"2201.12005","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-01-28T09:33:00Z","cross_cats_sorted":[],"title_canon_sha256":"6efe64648d2b5bac61984524733b6aad7328386f5eb5eb8962ee31f7f98005a5","abstract_canon_sha256":"ea46df32769352275658799a1b07afc015bd03f27fa12d4fc042173379fbc7e3"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:32:27.442046Z","signature_b64":"xMdRYC9Ck/zj8A/J5qaXbAiR5NhVL+WLpsolH6LSeOt8s0o0lOV/oNxlSTe2PQMlIhqKlt0xINYD3egkX0xRAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b295ddc4b7d0c791ea94325d180fdac81aef8098c284e736af3484281b0ff897","last_reissued_at":"2026-07-05T04:32:27.441579Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:32:27.441579Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"GTac: A Biomimetic Tactile Sensor with Skin-like Heterogeneous Force Feedback for Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haoyong Yu, Xingyu Gao, Zeyu Lu","submitted_at":"2022-01-28T09:33:00Z","abstract_excerpt":"The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like grasping delicate objects. In this paper, we design and fabricate a novel biomimetic tactile sensor with skin-like heterogeneity that perceives normal and shear contact forces simultaneously. It mimics the multilayers of mechanoreceptors by combining an extrinsic layer (piezoresistive sensors) and an intrinsic layer (a Hall sensor) so that it can perform estim"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.12005","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2201.12005/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":"2201.12005","created_at":"2026-07-05T04:32:27.441631+00:00"},{"alias_kind":"arxiv_version","alias_value":"2201.12005v1","created_at":"2026-07-05T04:32:27.441631+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.12005","created_at":"2026-07-05T04:32:27.441631+00:00"},{"alias_kind":"pith_short_12","alias_value":"WKK53RFX2DDZ","created_at":"2026-07-05T04:32:27.441631+00:00"},{"alias_kind":"pith_short_16","alias_value":"WKK53RFX2DDZD2UU","created_at":"2026-07-05T04:32:27.441631+00:00"},{"alias_kind":"pith_short_8","alias_value":"WKK53RFX","created_at":"2026-07-05T04:32:27.441631+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/WKK53RFX2DDZD2UUGJORQD62ZA","json":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA.json","graph_json":"https://pith.science/api/pith-number/WKK53RFX2DDZD2UUGJORQD62ZA/graph.json","events_json":"https://pith.science/api/pith-number/WKK53RFX2DDZD2UUGJORQD62ZA/events.json","paper":"https://pith.science/paper/WKK53RFX"},"agent_actions":{"view_html":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA","download_json":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA.json","view_paper":"https://pith.science/paper/WKK53RFX","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2201.12005&json=true","fetch_graph":"https://pith.science/api/pith-number/WKK53RFX2DDZD2UUGJORQD62ZA/graph.json","fetch_events":"https://pith.science/api/pith-number/WKK53RFX2DDZD2UUGJORQD62ZA/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA/action/timestamp_anchor","attest_storage":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA/action/storage_attestation","attest_author":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA/action/author_attestation","sign_citation":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA/action/citation_signature","submit_replication":"https://pith.science/pith/WKK53RFX2DDZD2UUGJORQD62ZA/action/replication_record"}},"created_at":"2026-07-05T04:32:27.441631+00:00","updated_at":"2026-07-05T04:32:27.441631+00:00"}