Abstract Mobility impairments in older adults have been well documented, and much information is gleaned from comparison with gait of younger adults. However, many impairments likely begin in middle age and progress gradually till they become acute issues in older adults. If such changes can be spotted early, then one can intervene early. Physical therapy and movement sciences, unlike cardiac science, have always intervened after the inception of gait impairments rather than promoting prevention in younger adults.Gait research and clinical tests use indoor walking even though much ecological locomotion also happens outdoors. Clinical tests, in particular, are designed for identifying acute gait issues in older adults. These tests are unlikely to identify subtle gait changes in middle age because these adults will neither reach their physiological limits nor exhaust their compensatory mechanisms during indoor walking. Therefore, this thesis investigated whether changes in the gait of middle-aged men and women will be apparent while walking outdoors on various terrains. Gait quality was quantified using kinematic variability measures, and sex differences were also assessed given the asymmetric impacts of falls for men vs women.Portable inertial measurement units (IMUs) were used to measure ankle kinematics when healthy young and middle-aged men and women walked outdoors on various concrete and grass surfaces of different slopes at their self-selected comfortable speed. Statistical models tested for surface, age and sex differences in gait variability. Study 1 focused on task and sex effects in young adults. Study 2 investigated task and age effects in young and middle-aged adults. To quantify performance, novel metrics were introduced to measure gait variability. This dissertation applies the spatio-temporal index (STI) – a metric commonly used in the speech sciences – to the analysis of gait. This thesis introduces two new derivatives, STIref and <b>Δ</b>STI, that partitioned the variability into a feedforward and a feedback plus noise component, respectively. STIref quantified one feature – the average local roughness – of the ankle acceleration, which is a peripheral consequence of the feedforward motor command. <b>Δ</b>STI quantified the residual, including the magnitude of the feedback-driven step-to-step corrections and neuromotor and external noise evident in the ankle accelerations.In healthy young adults, the feedback-driven corrections and noise component (<b>Δ</b>STI) increased substantially on slopes and on more irregular grassy surfaces. The feedforward component (STIref) was slightly higher in men, likely due to morphological differences. Despite reported differences in fall rates, the variability measures used in this study did not identify differences in the gait of young men and women. The same patterns were evident in middle-aged individuals, and there was no change in these metrics with age. Therefore, a key finding was that a feature of the feedforward component of gait control is relatively invariant, whereas young and middle-aged individuals navigate different terrains mainly through feedback-driven step-to-step corrections. Another key finding was that variability was inversely related to the self-selected walking speed on different surfaces. Individuals may have slowed down on harder terrains so that they have time to implement the step-to-step corrections. Therefore, a plausible explanation of the null age effect in the data is that middle aged adults adapted to the terrains by modulating speed. As motor capacities start to decline in middle-age, individuals adapt to maintain key functions.In conclusion, differences in gait were evident on different surfaces, but the tasks used in this work did not tax the middle-aged adults to reveal gait deficits, especially because individuals were free to select their walking speed. The novel metrics were highly sensitive to terrain but not sensitive to sex differences and early aging. However, the results indicate the path forward: controlling walking speed or increasing task difficulty will be essential to identify gait differences in middle age. The STI-based metrics dissociate the feedforward contributions to gait from the feedback and noise components and provide testable predictions that can be validated with future work.