Development of fall prevention training device that can provide external disturbance to the ankle with pneumatic gel muscles (PGM) while walking. - Keigo Isoshima; Mitsunori Tada; Noriaki Maeda; Tsubasa Tashiro; Satoshi Arima; Takumi Nagao; Yuki Tamura; Yuichi Kurita (CoRR, 2024)