Fig. 1

The Fall Inducing Movable Platform (FIMP). Its frame was constructed from 40 \(\times\) 40 mm aluminium profiles. A brake is used to induce trips, while a DC motor is used for slips. Wire ropes (illustrated as thin red lines) connect the mechanisms to the left leg at the ankle (green dashed circle). A power spring connected in series between the ankle and the brake or motor provided the freedom of movement required to walk normally. A RealSense camera mounted at the back of the platform enables subject following. The safety rope attached to the overhead crossbeam of the system prevents fall impact while imposing minimal inertial load on the subject during walking