This is an early experiment in human-computable TOTP. Not production crypto, but a serious attempt to reach reasonable security for plausible 2FA. Protocol revisions, criticism, and contributions are welcome.
To use your example: 51076, you'd do `5*3 + 1 + 0*3 + 7 + 6*3 = 15 + 1 + 0 + 7 + 18 = 41`. The sixth digit would be 9 ((10 - (41 mod 10)) mod 10). If you were to transpose any two adjacent numbers the checksum would be off. 3 is chosen because it's the smallest number that is co-prime with 10.