A triple torsion linking form and 3-manifolds in $S^4$

Given a rational homology 3-sphere $M$, we introduce a triple linking form on $H_1(M;\mathbb{Z})$, defined when the classical torsion linking pairing of three homology classes vanishes pairwise. If $M$ is the boundary of a simply-connected 4-manifold $N$, the triple linking form can be computed in terms of the higher order intersection form on $N$, introduced by Matsumoto. We use these methods to formulate an embedding obstruction for rational homology spheres in $S^4$, extending a 1938 theorem of Hantzsche.