Jonathan Tsay (@tsay.bsky.social)

Fall risk-aware adaptation explains suboptimal locomotor performance Human locomotion requires balancing multiple biological objectives, such as metabolic energy efficiency, stability, and symmetry. While models based on optimization successfully predict how humans walk in familiar settings, they fail to explain why individuals adopt inefficient movement patterns in novel environments, even after extensive practice. Here, we show that such suboptimality in a novel environment arises from a fundamental prioritization of safety. We find that individuals do not simply fail to reach an optimal solution; instead, they navigate an environment-dependent risk landscape by mitigating the statistical probability of falling. We find that this risk-averse strategy is explained by adjusting internal learning parameters: specifically, the learning rate and the tradeoff between metabolic cost and symmetry, in a manner that lowers fall risk. To quantify this process, we developed an ‘inverse adaptation’ modeling framework; this approach works backwards from locomotor performance data to mathematically infer the underlying internal learning parameters and how they vary with fall risk. Our analysis reveals that the observed motor performance is explained by a global probabilistic fall risk rather than a local step-based measure of instability. Ultimately, these findings reveal that fall risk-aware adaptation explains suboptimal locomotor behavior, providing a new data-driven framework to understand the drivers of motor performance. ### Competing Interest Statement The authors have declared no competing interest. https://doi.org/10.64898/2026.03.02.709033