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. 2024 Nov 28;14:29617. doi: 10.1038/s41598-024-81361-7

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 5 — Relation between the minimum margin of stability(MOS) value in the anterior and posterior directions during a single step and the number of steps after a change in the ground friction condition: (a) Example of time variation of the anterior and posterior MOS for a stable gait in the young adult model and the definition of negative and positive MOS; (b) young adult model, (c) elderly non-faller model; and (d) elderly faller model.