I also have bad balance caused by numbness in my feet. If I close my eyes I start swaying or if I walk in the dark my balance is bad, add in stairs and Im likely to fall. My feet are so numb that I was walking the dog last week and noticed that my left shoe was off, I had to walk back three blocks to find the shoe, I never felt that it was off. I dont get that foot slipping thing though. I have sprained both ankles a number of times.