Walking is essential for maintaining independence in daily life, and aging is accompanied by an increased risk of falls, which often lead to severe injuries, reduced quality of life, and greater social and economic burdens. Elderly individuals generally exhibit slower walking speeds, strongly associated with reduced propulsive force. This reduction primarily results from age-related declines in plantar flexor power, which are partially compensated by increased proximal muscle recruitment. While such neuromuscular compensation enables gait continuation, it is also thought to destabilize gait; however, the underlying biomechanical mechanisms remain unclear. To explore these mechanisms, simple walking models provide valuable insights by abstracting human locomotion into its essential dynamics. The compass walking model demonstrates how hip stiffness and push-off impulse influence step length, cadence, and propulsive force. Extensions of this framework, such as knee-included models, further clarify the role of toe clearance, particularly minimum toe clearance (MTC), a critical determinant of tripping risk. Elderly individuals often show greater variability and lower values in MTC, yet its mechanical basis has not been fully explained. Simple models suggest that changes in hip stiffness and push-off modulation directly affect propulsion and MTC, thereby contributing to instability. This review highlights the significance of simple models as complements to detailed musculoskeletal simulations, offering intuitive insights into gait dynamics. Such approaches not only deepen the understanding of age-related gait instability but also inform fall-prevention strategies and the design of assistive technologies.
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