Gait analysis is a fundamental tool in biomechanics and rehabilitation, as it evaluates human movements’ kinematic and kinetic behavior. For this reason, high-precision devices have been developed. However, these require controlled environments, which generates a deficiency in the capacity of studies related to gait analysis in outdoor and indoor scenarios. Therefore, this article describes the development and testing of a wearable system to measure gait cycle kinematic and kinetic parameters. The methodology for the development of the system includes the assembly of modules with commercial surface electromyography (sEMG) sensors and inertial measurement sensors, as well as the use of instrumented insoles with force-resistive sensors, and the design of the software to acquire, process, visualize, and store the data. The system design considers portability, rechargeable battery power supply, wireless communication, acquisition speed suitable for kinematic and kinetic signals, and compact size. Also, it allows simultaneous assessment of sEMG activity, hip and knee joint angles, and plantar pressure distribution, using a wireless connection via Wi-Fi and user datagram protocol for data transmission with a synchronization accuracy of 576 μs, data loss of 0.8%, and autonomy of 167 min of continuous operation, enabling uninterrupted data acquisition for gait analysis. To demonstrate its performance, the system was tested on 10 subjects without any neuromusculoskeletal pathology in indoor and outdoor environments, evaluating relevant parameters that facilitate a comprehensive analysis of gait in various contexts. The system offers a reliable, versatile, and affordable alternative for gait assessment in outdoor and indoor environments.

Bootstrap current plays a crucial role in the equilibrium of magnetically confined plasmas, particularly in quasi-symmetric stellarators and in tokamaks, where it can represent bulk of the electric current density. Accurate modeling of this current is essential for understanding the magnetohydrodynamic (MHD) equilibrium and stability of these configurations. This study expands the modeling capabilities of M3D-C1, an extended-MHD code, by implementing self-consistent physics models for bootstrap current. It employs two analytical frameworks: a generalized Sauter model (Sauter et al. 1999 Phys. Plasmas vol. 6, no. 7, pp. 2834–2839), and a revised Sauter-like model (Redl et al. 2021 Phys. Plasmas vol. 28, no. 2, pp. 022502). The isomorphism described by Landreman et al. (2022 Phys. Rev. Lett. vol. 128, pp. 035001) is employed to apply these models to quasi-symmetric stellarators. The implementation in M3D-C1 is benchmarked against neoclassical codes, including NEO, XGCa and SFINCS, showing excellent agreement. These improvements allow M3D-C1 to self-consistently calculate the neoclassical contributions to plasma current in axisymmetric and quasi-symmetric configurations, providing a more accurate representation of the plasma behavior in these configurations. A workflow for evaluating the neoclassical transport using SFINCS with arbitrary toroidal equilibria calculated using M3D-C1 is also presented. This workflow enables a quantitative evaluation of the error in the Sauter-like model in cases that deviate from axi- or quasi-symmetry (e.g. through the development of an MHD instability).

Previous work had shown that multilingual preschool children are better at interpreting deictic gestures than their monolingual peers. The present study examines whether this multilingual effect persists beyond preschool age and whether it extends to iconic (i.e., representing the referent) and conventional (i.e., holding an arbitrary meaning) gestures. A total of N = 105 children (aged 3 to 8), varying in their balance of exposure to more than one language since birth, completed a gamified gesture comprehension task. The three gesture types were presented in four communicative conditions, namely (1) alone, with (2) reinforcing or (3) supplementing speech, compared to (4) speech produced alone. Analyses revealed that children with greater balance in their multilingual exposure understood significantly more speechless iconic gestures than children with less balanced multilingual exposure. Findings align with previous work and theoretical frameworks, indicating that multilingual exposure enhances children’s sensitivity to non-verbal communicative cues.

Teachers in conflict-affected regions face chronic stress and trauma exposure, compromising their mental health and professional identity. This study evaluates the effectiveness of the “Conmigo, Contigo, Con Todo” (3Cs) programme in improving resilience, compassion and prosocial behaviours among Afro-Colombian teachers in Tumaco, Colombia, through a mixed-methods cluster-randomised controlled trial. Thirty-two teachers from eight schools were randomised into intervention (n = 28) and control (n = 4) groups. Quantitative outcomes were assessed at baseline, post-intervention and follow-up using validated scales for resilience (CD-RISC), PTSD symptoms (PCL-C), anxiety, depression, compassion (ECOM) and prosocial behaviour (PPB). Qualitative data were collected through focus groups and analysed thematically. Resilience improved from baseline to follow-up (Hedges’ g = 0.23, small effect). PTSD symptoms declined substantially post-intervention (Hedges’ g = 0.98, large effect), with partial relapse at follow-up. Anxiety decreased initially but increased over time. Compassion and prosociality remained stable. Qualitative findings revealed perceived improvements in emotion regulation and compassion, although the 94% female sample may influence results. This exploratory study provides preliminary evidence that culturally adapted, school-based interventions may improve resilience and reduce trauma-related symptoms among teachers in high-adversity settings, although findings are limited by small sample size and group imbalance. Larger-scale replication with sustained reinforcement strategies is warranted.

Drawing on semi-structured interviews with 36 policymakers, experts and scholars, this paper employs a principal-agent framework to analyse China’s carbon market governance. The findings reveal that institutional misalignment between central and local priorities undermines market efficacy. While mechanisms like the Target Responsibility System (TRS) and environmental inspections aim to enforce compliance, fragmented incentives and passive central supervision exacerbate policy incoherence. Owing to competing mandates, local governments prioritize short-term GDP growth over the development of the carbon market, thereby relegating emissions trading to a peripheral status. State-owned enterprises (SOEs) dominate market participation, fulfilling compliance through political alignment but distorting price signals and marginalizing private actors. China’s hybrid governance model, which combines top-down controls with decentralized experimentation, generates systemic contradictions where weak enforcement, ritualistic compliance and data opacity persist as the dominance of SOEs colludes with local developmentalism to weaken carbon pricing. Overall, carbon market governance mechanisms have paradoxically incentivized regulated entities to prioritize developmental goals over improving carbon market infrastructure.

With increasing age, many elderly individuals will not be able to stand normally. To solve this problem, a knee exoskeleton is designed. The knee joint is designed as a variable stiffness structure. It can adjust its stiffness according to the body’s movement state, ensuring precise assistance while also enhancing human comfort. The variable stiffness mechanism consists of an elastic output actuator and a stiffness-adjusting actuator. The elastic output actuator is mainly responsible for the output of the joint torque. The stiffness-adjusting actuator is mainly responsible for adjusting the joint stiffness. These two mechanisms are analysed separately. Based on their relationship with the whole mechanism, a stiffness model of the entire knee joint is established. Experiments are subsequently conducted to evaluate the variable stiffness joint. The stiffness identification experiment indicates that the actual stiffness of the whole knee joint is essentially consistent with the theoretical value. The trajectory tracking experiment demonstrates that the joint exhibits excellent trajectory tracking capability, although stiffness has a certain effect. The exoskeleton assistive effect experiment demonstrates the ability of the exoskeleton to assist in standing. Additionally, the experiment on subjects with exoskeletons of different stiffnesses determines the impact of stiffness on human comfort.