Inclusion Criteria:

• Subjects must be 50 years or older, living in continuous-care retirement facilities.

Exclusion Criteria:

• For participation in study:
  • Three or more errors on the Six-Item Screener for Cognitive Impairment
  • Individuals who cannot provide consent for themselves
• For participation in compensatory step training:
  • Physician or nurse practitioner approval to participate in the study with the guidelines that subjects should not participate if any of the following is applicable:
    • Unable to walk one block without stopping or using a walking aid (self-reported)
    • Acute illness at the time of functional assessment or training
    • Body mass greater than 114 kg
    • Body size too large for wearing a safety harness
    • Lower extremity joint replacement within a year prior to participation
    • Femoral neck or total hip bone mineral density t-score less than -2.5
      • Based on a dual-energy X-ray absorptiometry (DXA) scan in the Mayo Clinic Charlton Clinical Research Unit (CRU), with no medication changes that may affect bone mineral density at the hip (e.g. starting prednisone). During the visit to the CRU, the subject's height and weight will be measured.
      • If the subject has had a hip DXA scan within 6 months of participation, the exclusion criterion will be based on the previous scan.
      • If the subject has had bilateral hip replacement, then the subject will not qualify for compensatory step training.
    • Dementia
    • Parkinson's disease
    • A history of stroke
    • A history of back surgery
    • Bulging vertebral discs
    • Spine, hip, or lower extremity fracture within a year prior to participation
    • Open lesions on the lower extremity
    • In case of lower extremity amputation, stump volume fluctuations within a year of training
    • Use of a pacemaker
    • Use of an ostomy pouch
    • Pregnancy
    • Doctor recommendation to avoid moderate physical activity or exercise
    • Any neural, muscular, or skeletal condition or injury that precludes safe participation in the training, at the discretion of the clinician or study staff.