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whuber seems to have it covered, but an alternative approach might involve taking the slope of a slope raster. The slope function of a DEM gives us the rate of elevation change, and taking the slope function of that would give us in the rate of change in slope. Ideally, the toe of slope would be located in areas with high rates of slope change. This ...
Apply the Greater Than operator to the results of (5) and (6).
The MMQGIS plugin for QGIS provides a tool called Hub Distance which should do the trick.
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