Robert Peck elaborated on Erikson's eighth stage of development by dividing it into middle age and old age periods. Middle age consists of four stages from ages 42-55 focusing on valuing wisdom over physical powers, social relationships over sexualizing, emotional flexibility, and mental flexibility. Old age involves developmental tasks of differentiating identity from work roles, transcending physical limits, and finding purpose through contributions to future generations. Successfully navigating these stages and tasks leads to healthy transitions into late adulthood.