Romidepsin is an important therapeutic option for patients with peripheral T-cell lymphoma (PTCL). However, the timing of romidepsin administration remains controversial. The objective of this study was to characterize the safety and efficacy of romidepsin as consolidation therapy after gemcitabine, dexamethasone, and cisplatin (GDP) therapy (GDPR). This study of patients treated between March 2019 and March 2021 was registered with the Japan Registry of Clinical Trials (registration number: jRCT0000000519). If complete response, partial response, or stable disease was confirmed after 2–4 GDP cycles, romidepsin was administered every 4 weeks for 1 year. Seven patients with relapsed/refractory (R/R) PTCL (T-follicular helper phenotype [n = 1] and angioimmunoblastic T-cell lymphoma [n = 6]) were included in this prospective study (PTCL-GDPR). After a median follow-up of 34 months of patients in PTCL-GDPR, the 2-year overall survival rate was 71%, and the overall response rate after treatment was 57%. Common adverse events in patients with PTCL-GDPR included hematological toxicities such as neutropenia, which improved with supportive treatment. There were no treatment-related mortalities. GDPR might be safe and effective in elderly transplant-ineligible patients with R/R PTCL; however, further investigation is required. Full article

The many limitations of implementing anticancer strategies under the term “precision oncology” have been extensively discussed. While some authors propose promising future directions, others are less optimistic and use phrases such as illusion, hype, and false hypotheses. The reality is revealed by practicing clinicians and cancer patients in various online publications, one of which has stated that “in the quest for the next cancer cure, few researchers bother to look back at the graveyard of failed medicines to figure out what went wrong”. The message is clear: Novel therapeutic strategies with catchy names (e.g., synthetic “lethality”) have not fulfilled their promises despite decades of extensive research and clinical trials. The main purpose of this review is to discuss key challenges in solid tumor therapy that surprisingly continue to be overlooked by the Nomenclature Committee on Cell Death (NCCD) and numerous other authors. These challenges include: The impact of chemotherapy-induced genome chaos (e.g., multinucleation) on resistance and relapse, oncogenic function of caspase 3, cancer cell anastasis (recovery from late stages of apoptosis), and pitfalls of ubiquitously used preclinical chemosensitivity assays (e.g., cell “viability” and tumor growth delay studies in live animals) that score such pro-survival responses as “lethal” events. The studies outlined herein underscore the need for new directions in the management of solid tumors. Full article

Popularity is of great developmental significance to early adolescents for its implications on behavioral and adjustment outcomes. Although extensive research on popularity has been conducted in Western cultures, little is known about Chinese adolescents’ indigenous understanding of popularity. The current study examined Chinese early adolescents’ understanding of popularity using focus group interviews to explore the characteristics of popularity and unpopularity, as well as popularity determinants for boys and girls. We conducted interviews on six focus groups comprising 37 Chinese fifth and sixth graders (18 boys, 19 girls). Transcriptions were coded and analyzed through developing coding schemes that included emerged codes and categories. The results showed both cross-cultural similarities and culturally specific findings in adolescents’ perceptions of popularity characteristics and determinants. Specifically, sociability, academic performance, and prosocial behaviors served as major characteristics of popularity, whereas aggressive and disruptive behaviors were regarded as typical attributes of unpopularity. More importantly, culturally unique aspects of popularity characteristics were reported by Chinese adolescents, such as a strong sense of collective honor. When responding what would make a peer popular, Chinese early adolescents reported various behavioral, social, and cultural factors. Findings of this study underscore the importance of examining perceptions of popularity in consideration of the cultural context. Full article

Worldwide, nurse shortages constitute a problem, including in the Netherlands. Every region in the country has a shortage of all types of nurses. At the same time, there are large hidden reserves: persons who have been trained as a nurse but do not work in the healthcare sector. The size of the hidden reserve exceeds the shortage of nurses. Until now, the literature has not paid much attention to spatial aspects of the nursing shortage problem. In this paper, we analyze the size of the hidden reserves and how they are distributed over the country, across large and smaller cities, and across different nurse categories. We find that especially densely populated areas have relatively small shares of trained nurses as well as large hidden reserves relative to their population. These areas are also facing the largest nurse shortages. As nurse labor markets are local, policies that are more focused on local situations are necessary to activate these hidden reserves. Full article

This research aims to delve into the intricacies of combustion processes, specifically focusing on heating oil and a blend of heating oil with Tire Pyrolysis Oil (TPO) in a self-developed evaporative combustion chamber featuring steam injection. The primary objective is to scrutinize the impact of steam injection on the combustion dynamics. Conducting a series of tests, the investigation involved the meticulous manipulation of stoichiometric ratios while introducing ambient air through gravity fuel flow. Subsequent iterations of these tests incorporated the introduction of steam into the ambient air stream. The examination encompassed the combustion of both heating oil and the TPO blend within the combustion chamber. The evaluation criteria comprised an in-depth analysis of flame characteristics, temperature distribution within the combustion chamber, and the quantification of emissions such as particulate matter (PM), nitrogen oxides (NO_x), carbon dioxide (CO₂), carbon monoxide (CO), and water vapor (H₂O). Throughout the experimentation phase, commercially available diesel fuel served as the primary fuel source. To facilitate the tests, the combustion chamber under scrutiny was seamlessly integrated into an AVL engine test bench system. Essential parameters, including fuel consumption, were meticulously gauged using an AVL 735 fuel flow meter, while fuel temperature was monitored using the AVL 745 fuel temperature conditioning system. The intake air, a crucial element in the combustion process, was quantified with precision using an AVL Flowsonix sensor. Emission measurements were conducted meticulously using state-of-the-art equipment, with gaseous emissions analyzed using an AVL FTIR AMA i60 exhaust gas analyzer. Simultaneously, soot emissions were quantified through employment of an AVL Micro Soot sensor. This comprehensive approach not only delves into the fundamental aspects of combustion but also extends its reach to the exploration of innovative techniques, such as steam injection, to enhance combustion efficiency and reduce emissions. The integration of advanced measurement tools ensures a robust and thorough analysis of the combustion process and its environmental implications. Full article

At an energy flux imbalance of about 1 W m^–2, the ocean stores 90% of the heat accumulating by global warming. However, neither the causes of this nor the responsible geophysical processes are sufficiently well understood. More detailed investigations of the different phenomena contributing to the oceanic energy balance are warranted. Here, the role of low-level marine clouds in the air–sea interaction is analysed. TEOS-10, the International Thermodynamic Equation of State of Seawater—2010, is exploited for a rigorous thermodynamic description of the climatic trends in the lifted condensation level (LCL) of the marine troposphere. Rising sea surface temperature (SST) at a constant relative humidity (RH) is elevating marine clouds, cooling the cloud base, and reducing downward thermal radiation. This LCL feedback effect is negative and counteracts ocean warming. At the current global mean SST of about 292 K, the net radiative heat flux from the ocean surface to the LCL cloud base is estimated to be 24 W m^–2. Per degree of SST increase, this net flux is expected to be enhanced by almost 0.5 W m^–2. The climatic LCL feedback effect is relevant for the ocean’s energy balance and may be rigorously thermodynamically modelled in terms of TEOS-10 equations. LCL height may serve as a remotely measured, sensitive estimate for the sea surface’s relative fugacity, or conventional relative humidity. Full article

Background and Objectives: Hand septic arthritis is a potentially debilitating condition that can significantly affect patient functionality and quality of life. Understanding the demographic, clinical, and microbiological characteristics of this condition is crucial for its effective treatment and management. : This study aimed to analyze the demographic and clinical profiles of patients with hand septic arthritis, to identify common microbial pathogens, and to evaluate the impact of various factors on clinical course and treatment outcomes. Material and Methods: This cross-sectional retrospective study examined patients diagnosed with septic arthritis of the hand, focusing on their demographic data, clinical presentation, causative organisms, treatment methods, and outcomes. Data on age, sex, cause of infection, affected sites, surgical interventions, microbiological findings, and patient outcomes were also collected. Results: This study found a higher prevalence of septic arthritis in males and identified bite as the predominant cause. Staphylococcus aureus is the most common pathogen. A large number of patients did not exhibit bacterial growth, and bacterial resistance did not significantly affect the outcome. Outcomes were statistically influenced by the timing of medical presentation and the presence of comorbidities. Conclusions: Early diagnosis and intervention are critical for effective management of hand septic arthritis. This study underscores the need for a comprehensive approach that considers patient demographic and clinical characteristics to optimize treatment outcomes. Awareness and preventive measures are essential to reduce the incidence and severity of this condition. Full article

(1) Background and Objectives: This review aims to identify the latest literature on the possible effect of bilingualism on the linguistic skills of children with autism spectrum disorder (ASD) residing in Greece. (2) Materials and Methods: The literature was searched in the databases of Scopus and PubMed by selecting articles and by reviewing four studies published in peer-reviewed journals. This Scoping Review is based on the standards of PRISMA recommendations for scoping reviews, while the PCC framework was used as a guide to construct clear and meaningful objectives and eligibility criteria. (3) Results: The publications included in the review addressed a variety of language-related skills, including morphology, the syntax–pragmatics interface, narrative ability, as well as both receptive and expressive language skills. (4) Conclusions: Three out of four studies provide evidence that bilingual ASD children are not disadvantaged compared to monolingual peers but rather enjoy some benefits, to a certain extent, due to bilingualism. However, the number of the reviewed studies as well as the limitations of the studies themselves render this conclusion tentative. Additionally, the findings set guidelines that speech therapists, educators, psychologists, and doctors in the Greek context need to follow when treating or educating bilingual children with ASD. Full article

Background and Objectives: The present systematic review and meta-analysis were conducted to evaluate and compare the long-term clinical outcomes of immediate implants placed into fresh sockets with and without periapical pathology. Materials and Methods: After the search and review of the literature in the electronic databases, 109 publications were achieved. The titles and abstracts of 66 publications were screened. After the evaluation of the full text of 22 publications, based on the inclusion criteria, six controlled clinical studies were included in this systematic review and meta-analysis. Results: The statistical calculation showed no heterogeneity among the studies included. The implant survival was 99.6% in the test (socket with periapical pathology) and control (socket without periapical pathology) groups of all the clinical trials. The results of the meta-analysis showed no statistically significant difference between test and control groups regarding the marginal bone level and the width of keratinized mucosa in all the studies. Other parameters indicating plaque level, bleeding on probing, and gingival recession also did not differ between test and control groups at the final follow-up in nearly all studies. Conclusions: Within the limitation of this systemic review and meta-analysis, the obtained data suggest that implants immediately placed into the extraction sockets of teeth exhibiting periapical pathology can be successfully osseointegrated for an extended period. Full article

This review examines hesperidin, a citrus bioflavonoid, as a potential antiviral agent against SARS-CoV-2. The COVID-19 pandemic has demanded an urgent need to search for effective antiviral compounds, including those of natural origin, such as hesperidin. The review provides a comprehensive analysis of the chemical properties, bioavailability and antiviral mechanisms of hesperidin, particularly its potential efficacy against SARS-CoV-2. A review of databases, including PubMedPico, Scopus and Web of Science, was conducted using specific keywords and search criteria in accordance with PRISMA (Re-porting Items for Systematic Reviews and Meta-Analysis) guidelines between 2020 and 2024. Of the 207 articles, 37 were selected for the review. A key aspect is the correlation of in vitro, in silico and clinical studies on the antiviral effects of hesperidin with epidemiological data on citrus consumption in China during 2020–2024. The importance of integrating laboratory findings with actual consumption patterns to better understand the role of hesperidin in mitigating COVID-19 was highlighted, and an attempt was made to analyze epidemiological studies to examine the association between citrus juice consumption as a source of hesperidin and the incidence and severity of COVID-19 using China as an example. The review identifies consistencies and discrepancies between experimental and epidemiological data, highlighting the need to correlate the two fields to better understand the potential of hesperidin as an agent against SARS-CoV-2. Challenges and limitations in interpreting the results and future research perspectives in this area are discussed. The aim of this comprehensive review is to bridge the gap between experimental studies and epidemiological evidence and to contribute to the understanding of their correlation. Full article

Background and Objectives: Carbon monoxide (CO) intoxication is one of the most common causes of poisoning-related deaths and complications. Myocardial injury is an important complication of CO poisoning. In our study, we aimed to evaluate the relationship between the presence and prevalence of fragmented QRS (fQRS) and myocardial injury in patients with CO intoxication. Materials and Methods: We retrospectively evaluated patients who presented to the emergency department of our tertiary care center with CO intoxication between January 2020 and December 2023. In our study, we performed subgroup analyses according to the presence of myocardial injury and fQRS. We evaluated the parameters and risk factors associated with myocardial injury. Results: Myocardial injury was detected in 44 patients, and fQRS was detected in 38 patients. In the myocardial injury (+) group, the fQRS rate was 38.6%, and the median number of leads with fQRS was 3 (2–6) and was significantly higher than in the myocardial injury (-) group (p < 0.001). We found that carboxyhemoglobin had a significant positive correlation with troponin (p = 0.001) and pro-B-type natriuretic peptide (proBNP) (p = 0.009). As a result of multivariate analysis, we determined that age, creatinine, proBNP, fQRS, and ≥3 leads with fQRS are independent risk factors for myocardial injury. Conclusions: Myocardial injury in CO intoxication patients is associated with proBNP, the presence of fQRS, and the number of leads with fQRS. Age, creatinine level, proBNP, the presence of fQRS, and ≥3 leads with fQRS are independent risk factors for myocardial injury in patients with CO intoxication. Full article

Background: Preeclampsia (PE) is a critical condition affecting pregnancies worldwide. Understanding its etiology, particularly the genetic factors, is vital. This study aims to investigate the association between ACE gene polymorphisms, specifically the ACE G2350A (rs4343) variant, and the predisposition to PE, offering insights into the genetic predisposition towards this complex condition. Methods: A case-control study was conducted with 140 participants without PE (Control Group) and 128 participants diagnosed with PE (PE Group). The study focused on comparing the prevalence of the rs4343 polymorphism between the groups. Results: The analysis identified a significantly reduced risk associated with the AG genotype and an insignificant increase in risk with the AA genotype. Statistically significant differences in demographic and clinical characteristics, such as BMI and marital status, were observed between the groups, suggesting a multifaceted risk profile for PE that includes genetic, environmental, and socio-economic factors. Conclusions: The study highlight the significant role of genetic variations, specifically the ACE G2350A (rs4343) polymorphism, in influencing PE predisposition. It highlights the intricate interplay between genetic predispositions and other risk factors in the development of PE. Further research is encouraged to expand on these findings and explore a wider range of genetic polymorphisms and their interactions with environmental factors. Full article

Cultural heritage is one of the areas where Extended Reality is having a significant impact nowadays. Although often associated with entertainment, this technology has enormous educational potential when applied to heritage. Therefore, it is essential to implement monitoring tools in educational practice to assess its actual effectiveness. This article presents the process of generating and validating a statistical data collection instrument developed to evaluate a virtual reality experience created using the archaeological heritage of the ancient Roman city of Augusta Emerita (Mérida, Spain). It can be easily adapted to evaluate similar experiences. The aim is to gauge the effectiveness of these experiences as a didactic resource. The questionnaire was subjected to an evaluation of its three dimensions. Content validity was analyzed through expert judgments, while applicability was tested by students. Finally, a series of statistical tests were conducted to verify construct reliability and internal consistency. Based on the results obtained and cross-referenced with the data provided by the literature, the suitability of this tool for collecting data on usability, learning, and emotions in virtual reality experiences is confirmed. Full article

Transhumance and its associated heritage are extremely complex and dynamic systems, and their conservation requires the analysis of interdisciplinary factors. To this end, fuzzy cognitive maps (FCMs) and Delphi surveys were applied for the first time in the field of heritage conservation. The model was applied to the tangible and intangible transhumance heritage of Andorra to determine its current state of conservation and to evaluate strategies for its preservation. Two panels of experts worked on the development of the model. Five experts with profiles related to conservation and transhumance heritage formed the first panel, which designed the preliminary FCMs, while seven experts in Andorran cultural heritage (panel 2) adapted the preliminary FCM model to Andorran transhumance heritage using Delphi surveys. The FCM model allowed us to analyze the influence of different variables on the conservation of transhumance heritage and to assess policy decisions. Further studies will focus on the implementation of this model in other countries to establish common recommendations for the conservation of the cultural heritage of transhumance. Full article

This paper investigates the dynamics of the SIR infectious disease model, with a specific emphasis on utilizing a harmonic mean-type incidence rate. It thoroughly analyzes the model’s equilibrium points, computes the basic reproductive rate, and evaluates the stability of the model at disease-free and endemic equilibrium states, both locally and globally. Additionally, sensitivity analysis is carried out. A sophisticated stability theory, primarily focusing on the characteristics of the Volterra–Lyapunov (V-L) matrices, is developed to examine the overall trajectory of the model globally. In addition to that, we describe the transmission of infectious disease through a mathematical model using fractal-fractional differential operators. We prove the existence and uniqueness of solutions in the SIR model framework with a harmonic mean-type incidence rate by using the Banach contraction approach. Functional analysis is used together with the Ulam–Hyers (UH) stability approach to perform stability analysis. We simulate the numerical results by using a computational scheme with the help of MATLAB. This study advances our knowledge of the dynamics of epidemic dissemination and facilitates the development of disease prevention and mitigation tactics. Full article

Path planning for quadcopters has been proven to be one kind of NP-hard problem with huge search space and tiny feasible solution range. Metaheuristic algorithms are widely used in such types of problems for their flexibility and effectiveness. Nevertheless, most of them cannot meet the needs in terms of efficiency and suffer from the limitations of premature convergence and local minima. This paper proposes a novel algorithm named Heuristic Hybrid Particle Swarm Optimization (HHPSO) to address the path planning problem. On the heuristic side, we use the control points of cubic b-splines as variables instead of waypoints and establish some heuristic rules during algorithm initialization to generate higher-quality particles. On the hybrid side, we introduce an iteration-varying penalty term to shrink the search range gradually, a Cauchy mutation operator to improve the exploration ability, and an injection operator to prevent population homogenization. Numerical simulations, physical model-based simulations, and a real-world experiment demonstrate the proposed algorithm’s superiority, effectiveness and robustness. Full article

The authors of numerous measurements of conductivity for suspensions of nanoparticles of various types carried out in the last decade came to the general conclusion that the well-known Maxwell’s theory is not applicable to quantitative explanation of the properties of such systems. In the present work, we demonstrate that the Maxwell’s theory can be still applicable even for such systems, but the specifics of the standard ac measurements have to be correctly taken into account. Namely, the dependence of the capacitance of “metal–electrolyte” cuvette boundaries on nanoparticle adsorption, which in its turn dramatically depends on nanoparticle concentration, has to be taken into account. The latter circumstance strongly (via the $RC$ characteristic of the circuit) affects the results of conductivity measurements. We propose the new algorithm of the impedance measurement data analysis for the particles’ concentration dependence of conductivity $\sigma \left(\varphi \right)$ (where $\varphi$ is the volume fraction of nanoparticles in suspension) for the suspensions of the diamante nanoparticles in alcohol which demonstrates the adequate correspondence of the Maxwell’s theory to the available experimental findings. Full article

This paper investigates the versatility of force feedback (FF) technology in enhancing user interfaces across a spectrum of applications. We delve into the human finger pad’s sensitivity to FF stimuli, which is critical to the development of intuitive and responsive controls in sectors such as medicine, where precision is paramount, and entertainment, where immersive experiences are sought. The study presents a case study in the automotive domain, where FF technology was implemented to simulate mechanical button presses, reducing the JND FF levels that were between 0.04 N and 0.054 N to the JND levels of 0.254 and 0.298 when using a linear force feedback scale and those that were 0.028 N and 0.033 N to the JND levels of 0.074 and 0.164 when using a logarithmic force scale. The results demonstrate the technology’s efficacy and potential for widespread adoption in various industries, underscoring its significance in the evolution of haptic feedback systems. Full article

Measuring the impact of land use regulation on the land market involves identifying and classifying relevant impact factors related to the land market. The objective of this study was to identify land market impact factors in the context of the introduction of land use regulation in Nepal. Through a combination of desktop review and the incorporation of stakeholder perspectives, the paper presents a new approach for determining land market impact factors due to land use regulation where both generic and country issues are considered. A desktop review was carried out to identify a preliminary set of impact factors, which were reclassified through intuitive analysis based on the degree of thematic closeness. Perspective-based impact factors were identified through the qualitative analysis of primary data collected through semi-structured interviews with the Nepalese land market stakeholders. These independently derived impact factors were compared with the desktop literature review impact factors, resulting in 14 land market impact factors across four dimensions, including transaction cost, valuation, mortgage availability, taxation, and compensation across the economic dimension; lot size, subdivision restrictions, and coordination across the institutional dimension; awareness, expectation, and proximity across the social dimension; and risk reduction, quality of residential land, and suitability of zoning classification across the environmental dimension. There was significant overlap and commonality across factors identified from both the literature review and semi-structured interviews. The land market impact factors determined in this study may be adapted and generalized across other countries and could be utilized to better understand the impacts of land policy decisions on urban planning and development. Further research is recommended on the process to operationalize the use of these factors to quantify the impact of land use regulation on different land markets. Full article

This paper presents an empirical study focused on the use of TooGoodToGo smartphone applications by urban food retailers and HoReCa sector owners, evaluating their satisfaction levels with using this app and identifying the most relevant business levers that might convince other operators to adopt anti-waste programs and more sustainable behaviors. To this end, a survey questionnaire is administered to a sample of respondents. Data are statistically analyzed using the Kruskal–Wallis test to consider the different perspectives of the identified subsamples. The results reveal that business operators claim to have a high level of satisfaction with exploiting the service provided by the app and that it is a lever for increasing the number of customers served, even if there is not a high positive effect on revenue. However, retailers with more years of operations, who can be considered more experienced, can better exploit the opportunities of the TGTG business. This study contributes to a better understanding of the benefits of using web application services to decrease waste from urban food retailers. Consequently, levers for convincing new operators to adopt the service and their role in increasing customer awareness are identified and discussed. Full article

Hyperspectral images include information from a wide range of spectral bands deemed valuable for computer vision applications in various domains such as agriculture, surveillance, and reconnaissance. Anomaly detection in hyperspectral images has proven to be a crucial component of change and abnormality identification, enabling improved decision-making across various applications. These abnormalities/anomalies can be detected using background estimation techniques that do not require the prior knowledge of outliers. However, each hyperspectral anomaly detection (HS-AD) algorithm models the background differently. These different assumptions may fail to consider all the background constraints in various scenarios. We have developed a new approach called Greedy Ensemble Anomaly Detection (GE-AD) to address this shortcoming. It includes a greedy search algorithm to systematically determine the suitable base models from HS-AD algorithms and hyperspectral unmixing for the first stage of a stacking ensemble and employs a supervised classifier in the second stage of a stacking ensemble. It helps researchers with limited knowledge of the suitability of the HS-AD algorithms for the application scenarios to select the best methods automatically. Our evaluation shows that the proposed method achieves a higher average F1-macro score with statistical significance compared to the other individual methods used in the ensemble. This is validated on multiple datasets, including the Airport–Beach–Urban (ABU) dataset, the San Diego dataset, the Salinas dataset, the Hydice Urban dataset, and the Arizona dataset. The evaluation using the airport scenes from the ABU dataset shows that GE-AD achieves a 14.97% higher average F1-macro score than our previous method (HUE-AD), at least 17.19% higher than the individual methods used in the ensemble, and at least 28.53% higher than the other state-of-the-art ensemble anomaly detection algorithms. As using the combination of greedy algorithm and stacking ensemble to automatically select suitable base models and associated weights have not been widely explored in hyperspectral anomaly detection, we believe that our work will expand the knowledge in this research area and contribute to the wider application of this approach. Full article

Accurately controlling the dynamic response and suppression of undesirable dynamics such as overshoots and vibrations is a vital requirement for soft robots operating in industrial environments. Pneumatically actuated soft robots usually undergo large overshoots and significant vibrations when deactuated because of their highly flexible bodies. These large vibrations not only decrease the reliability and accuracy of the soft robot but also introduce undesirable characteristics in the system. For example, it increases the settling time and damages the body of the soft robot, compromising its structural integrity. The dynamic behavior of the soft robots on deactuation needs to be accurately controlled to increase their utility in real-world applications. The literature on pneumatic soft robots still does not sufficiently address the issue of suppressing undesirable vibrations. To address this issue, we propose the use of impedance control to regulate the dynamic response of pneumatic soft robots since the superiority of impedance control is already established for rigid robots. The soft robots are highly nonlinear systems; therefore, we formulated a nonlinear discrete sliding mode impedance controller to control the pneumatic soft robots. The formulation of the controller in discrete-time allows efficient implementation for a high-order system model without the need for state-observers. The simplification and efficiency of the proposed controller enable fast implementation of an embedded system. Unlike other works on pneumatic soft robots, the proposed controller does not require manual tuning of the controller parameters and automatically calculates the parameters based on the impedance value. To demonstrate the efficacy of the proposed controller, we used a 6-chambered parallel soft robot as an experimental platform. We presented the comparative results with an existing state-of-the-art controller in SMC control of pneumatic soft robots. The experiment results indicate that the proposed controller can effectively limit the amplitude of the undesirable vibrations. Full article