Notes on the margin of stability

The concept of the 'extrapolated center of mass (XcoM)', introduced by Hof et al. (2005, J. Biomechanics 38 (1), p. 1-8), extends the classical inverted pendulum model to dynamic situations. The vector quantity XcoM combines the center of mass position plus its velocity divided by the pendulum eigenfrequency. In this concept, the minimum distance from the XcoM to the boundaries of the base of support was proposed as a measure of dynamic stability, i.e., the margin of stability (MoS). Here we describe the conceptual evolution of the XcoM, discuss key considerations in the measurement of the XcoM and MoS, and provide a critical perspective on the interpretation of the MoS as a measure of instantaneous mechanical stability.