Ramon Llull University

Abstract This paper presents the design and control of a sensor-integrated three-finger end-effector for real-time curvature-based haptic recognition in robotic systems. The device, mounted on a commercial UR3 robotic arm, employs embedded optical sensors to detect contact timing during object exploration. An onboard microcontroller estimates local surface curvature from the time-differential response across the fingers, enabling closed-loop control with deterministic behavior and sub-10 ms latency at a 100 Hz sampling rate. A probability density–based classifier, trained on simulated data and validated on hardware, achieves 95% recognition accuracy on curvature-defined stimuli, with optical sensing proving more reliable and repeatable than mechanical alternatives. A virtual environment was implemented to replicate sensor dynamics and robot kinematics, supporting scalable data generation and seamless virtual-to-real transfer. The lightweight and reproducible framework demonstrates how time-differential haptic signals can be integrated into automation-oriented control systems, offering robust, low-latency surface perception for industrial tasks such as object classification, material sorting, and automated inspection.

(1) Background: While the Robson Ten-Group Classification System (RTGCS) is widely used to assess and monitor caesarean section rates, its association with exclusive breastfeeding (EBF) outcomes at hospital discharge remains insufficiently explored. This study aimed to examine differences in EBF rates at hospital discharge across RTGCS groups among births attended at Hospital Universitario de la Ribera (Spain). (2) Methods: This retrospective observational study was conducted at a public hospital between 1 January 2010 and 31 December 2023. EBF at hospital discharge was analysed across Robson groups. Sociodemographic, obstetric, and neonatal variables were collected. A binomial logistic regression model was developed to identify predictors of EBF at discharge. Model fit was assessed using the Hosmer–Lemeshow goodness-of-fit test and Nagelkerke’s R2. (3) Results: The study analysed 23,081 births classified using the RTGCS, and 23,037 were included in the breastfeeding analysis. The overall EBF rate at discharge was 74.10%, with significant variation across Robson groups. Group 1 showed the highest EBF rate (78.339%) whereas Group 8 had the lowest (56.485%). Key factors positively associated with EBF included non-Spanish origin, nulliparity, cephalic presentation, singleton pregnancy, and term gestation. (4) Conclusions: Group 1 demonstrated the highest EBF rates, whereas Groups 8, 5, and 7 exhibited the lowest. These findings are essential for informing the development of targeted support strategies to improve breastfeeding outcomes in high-risk populations.

BackgroundThe growing interest in co-creation for public health innovation highlights the need for systematic approaches to stakeholder engagement. Despite its potential, co-creation faces substantial challenges, including unresolved power dynamics, poor reporting of methods and the absence of a universally agreed-upon definition. Current research reveals substantial fragmentation in co-creation literature, with limited guidance on method selection and principle alignment. This study addresses these gaps by developing a framework for systematically evaluating method alignment with key co-creation principles, offering a structured approach to fostering more effective and adaptive collaborative processes.MethodsUsing a structured review approach based on the Preferred Reporting Items for Systematic Reviews and Meta-Analyses guidelines, image-based models representing co-creation principles from academic and non-academic sources were identified and assessed. A framework was created through an iterative development process. The framework was subsequently validated by 12 geographically diverse co-creation researchers using a closed card sort method, ensuring its robustness and applicability across different research contexts.ResultsThe Co-Creation Rainbow Framework was developed by integrating key features from 20 included models, creating an individual-to-collective continuum with five sections (informing, understanding, stimulating, collaborating and collective decision-making), and three themes (engage, participate and empower). Successfully mapping 416 methods to the framework demonstrated its robust capability to differentiate and categorize co-creation methods, and reveaed nuanced variations in methodological strategies used by researchers and practitioners across different contexts.ConclusionsThe Co-Creation Rainbow Framework addresses the disconnect between theoretical and practical co-creation approaches through operationalising co-creation principles. By challenging traditional linear models and acknowledging the diversity of co-creation methods, the framework provides a nuanced and adaptable tool for systematically evaluating method alignment. The framework offers researchers and practitioners a robust tool for meaningful collaborative innovation, ultimately opening new pathways for collective problem-solving and knowledge generation.Supplementary InformationThe online version contains supplementary material available at 10.1186/s12961-025-01381-1.

The architecture, engineering, construction, and operation sectors face significant sustainability challenges. These include high greenhouse gas emissions, resource depletion, worker safety concerns, and difficulties balancing cost efficiency with sustainable practices. Digital solutions, such as Digital Building Permits (DBP) and Digital Building Logbooks (DBL), are increasingly promoted as enablers of sustainable construction and building management. However, there is limited research on how they contribute to sustainability in practice. This study applied the United Nations Sustainable Development Goals (SDGs) as an analytical framework to assess the sustainability impacts of DBP and DBL. A four-phase methodology was used: (1) expert elicitation to identify relevant SDGs, (2) mapping of DBP and DBL practices to SDG targets, (3) documentation of supporting practices, and (4) validation through a hybrid stakeholder workshop involving 38 participants from across Europe. The study identifies DBP and DBL practices that contribute to ten SDGs, including Good Health and Well-Being, Affordable and Clean Energy, Decent Work and Economic Growth, Industry and Innovation, Sustainable Cities, and Climate Action. The automatic code-compliance checking of DBP speeds up approval times, reduces errors, increases transparency, and supports carbon reduction, operational efficiency, and equitable access to permitting. It streamlines housing approvals, aiding affordable housing development. DBL facilitates energy-related data management, including the issuing of Energy Performance Certificates and comparing theoretical versus actual energy use. DBL also supports recyclability assessments and design for disassembly, aligning with the principles of the circular economy. This study provides a structured and replicable framework for evaluating the sustainability contributions of digital building permitting and logbooks. It demonstrates how DBP and DBL can be aligned with global sustainability targets, offering a foundation for future empirical research and policy development. Further work is needed to quantify long-term impacts and extend the analysis beyond the European context.

Background: High-intensity actions like accelerations and decelerations, often performed unilaterally, are crucial in elite female football but increase the risk of interlimb asymmetries and injury. Flywheel resistance training enhances eccentric strength, yet limited research has assessed how different inertial loads affect mechanical outputs in unilateral exercises. Purpose: This study investigated how two inertial loads (0.107 kg·m2 and 0.133 kg·m2) influence power, acceleration, speed, and asymmetry during unilateral hip extensions in elite female footballers. Methods: Eighteen professional players (27 ± 4 years, 59.9 ± 6.5 kg, 168.2 ± 6.3 cm, BMI 21.2 ± 1.8) completed unilateral hip extensions on a conical flywheel under both inertia conditions. A rotary encoder measured peak/average power, acceleration, speed, and eccentric-to-concentric (E:C) ratios. Bilateral asymmetries between dominant (DL) and non-dominant (NDL) limbs were assessed. Paired t-tests and Cohen’s d were used for analysis. Results: Higher inertia reduced peak and mean acceleration and speed (p < 0.001, d > 0.8). Eccentric peak power significantly increased in the NDL (p < 0.001, d = 3.952). E:C ratios remained stable. Conclusions: Greater inertial loads reduce movement velocity but increase eccentric output in the NDL, offering potential strategies to manage neuromuscular asymmetries in elite female football players.

Unvaccinated and partially vaccinated children are often found in complex environments, including urban poor settlements. Beyond typical factors affecting vaccination among low-income urban populations, such as affordability, trust remains a critical determinant of caregiver immunization decisions for their children. Drawing on the Theory of Planned Behavior, this study examined the impact of messaging approaches on the interplay across four factors: attitudes, subjective norms, perceived behavioral control, and vaccination intentions. This was an experimental study that employed a between-participants, 2×2×2 design, taking into consideration message content (benefit or cost), message appeal (factual or emotional), and messenger type (layperson or expert). Data were collected from 366 caregivers of children under five residing in randomly selected urban informal settlements. The proposed model was assessed using a partial least squares structural equation model. The study found that caregivers' attitudes toward vaccination (b=0.215, p<0.001, f2=0.087), subjective norms (b=0.086, p=0.03, f2= 0.026), and perceived behavioral control (b=0.199, p<0.001, f2= 0.087) were positively associated with their intentions to vaccinate their children. Structural equation modelling identified varying moderating effects of the messaging, with the inclusion of the moderators leading to an 8% increase in the R2. Exposure to benefit-based (b=0.097, p=0.016, f2=0.016) and fact-based messages (b = 0.162, p<0.001, f2=0.031) intensified the influence of attitudes on vaccination intentions. In contrast, emotionally appealing messages strengthened the impact of perceived behavioral control on intentions (b= -0.149, p<0.001, f2=0.033). The use of expert images did not have significant advantages over layperson images. Findings underscore the potential impact of messaging on the efficacy of vaccination promotion efforts. In developing communication strategies, policymakers should consider the interplay between messaging and its moderating influence on relationships between attitudes, subjective norms, and perceived behavioral control with vaccination intentions. Pan African Clinical Trials Registry. PACTR202303735426128. Registered on 22/03/2023.

This Introduction to the special issue ‘Collective Action in Crisis?’ explores two key themes. First, it seeks to deepen understanding of how collective action can be organized in crises, connecting established knowledge in the field with new insights from the articles of this special issue. Second, the question mark in our guiding theme invites critical reflection on whether the theories we use to understand collective action are themselves in crisis. Through this theme, we propose both a theoretical exploration and an empirical agenda, recognizing that crises amplify foundational concerns in organization studies around problems of collective action. We begin by ‘zooming out’ to provide an overview of foundational theoretical approaches to collective action during crises. Then, we ‘zoom in’ and foreground the specific value of middle-range theories and core concepts from organization and management studies. Our aim is to offer conceptual resources for scholars and practitioners tackling the critical task of organizing collective action in crises.

Despite medical advances, stigma against people living with HIV remains a major issue, especially in healthcare. Factors like ignorance and lack of training contribute to discrimination; studies show stigma varies by setting and provider background. This study in Spain aimed to explore self-perceived stigma and its impact on healthcare access. This mixed-methods study in Spain assessed self-perceived stigma among people living with HIV using a validated questionnaire and semi-structured interviews. Participants were recruited via social media and public announcements. Data analysis involved statistical tests and qualitative coding. Ethical approval was obtained, ensuring confidentiality and compliance with European regulations. The study included 525 participants, mostly men (53.3%), with a median age of 38 years and an average of four years since diagnosis. The majority (96.2%) received care through the public healthcare system. Stigma levels varied; internalised stigma was low, with most rejecting negative feelings about living with HIV. However, anticipated and experienced stigma remained, particularly in healthcare settings, where many reported discrimination and neglect-findings corroborated in interviews. Avoiding physical contact with patients and the excessive use of barrier measures were common behaviours. Analysis showed that stigma decreases with age and time since diagnosis but is higher among non-binary individuals. This study highlighted varying levels of stigma affecting people living with HIV, particularly in healthcare. While internalised stigma was low, many anticipated or experienced discrimination, often due to impersonal treatment and unfounded fears, emphasising the need for education and awareness to foster respectful, empathetic care.