Development of an Elliptical Perturbation System that provides unexpected perturbations during elliptical walking (the EPES system).

"Declarations Ethics approval and consent to participateNot applicable. Consent for publicationNot applicable. Competing interestsThe authors declare the following potential conflicts of interest, authorship, and/or publication of this article: all authors were involved in patent writing on some of the technology used in the EPES system. Competing interests The authors declare the following potential conflicts of interest, authorship, and/or publication of this article: all authors were involved in patent writing on some of the technology used in the EPES system."

"Funding This research was partially supported by Ben-Gurion University of the Negev through the Agricultural, Biological, and Cognitive Robotics Initiative and the Marcus Endowment Fund."