“…Both the COM-COP inclination angle (IA), namely the angle formed by the COM-COP vector and the vertical vector, and the rate of change of IA (RCIA), i.e., the change of IA over a given short time interval, are sensitive indices for quantifying the actual COM-COP control 18 , 19 . Generally, the greater the IA, the greater the COM-COP vector deviates from the vertical, and the greater the effort (e.g., joint torque) needed to reduce or maintain the IA unless accompanied by an appropriate RCIA for dynamic balance, corresponding to the position and velocity control of the COM described by Pai and Patton 19 , 20 . Increased toe-obstacle clearance during obstacle crossing demonstrated by older people reduces the risk of tripping 4 , 6 , 9 , 10 , 13 .…”