 Participants will be asked to perform each ADL in a fixed order several times until three good sets of data have been collected. Participants will be given instructions on how to perform each ADL prior to performing it and will be asked to practice them before data is collected. During the demanding tasks, participants will be supported by a harness to prevent falls and hand rails will be provided on the test staircase. Participants will be allowed rest breaks between each ADL and during tests if required. At the end of each task the participant will be asked a set of questions about how they found performing the task. On completion of the test protocol, the markers will be removed, the participant will get changed and will be free to leave. It is expected that each testing session will last up to 4 hours. 