This - specifically, how to do user authentication/access control in a RESTful manner - has always puzzled me. The author suggests HTTP Digest authentication, but that seems to fly in the face Roy Fielding's commandment that a RESTful interface shouldn't depend on the communications protocol being used; HTTP Digest seems pretty tightly coupled to HTTP, no?
Broadly, what are some of the canonical ways to do user authentication while still keeping close to the theoretical/theological underpinnings of REST?