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A participial phrase is a group of words consisting of a participle and the modifier(s) and/or (pro)noun(s) or noun phrase(s) that function as the direct object(s), indirect object(s), or complement(s) of the action or state expressed in the participle, such as:
The participial phrase functions as an adjective modifying Jack.
Removing (participle)
his coat (direct object of action expressed in participle)
Delores noticed her cousin walking along the shoreline.
The participial phrase functions as an adjective modifying cousin.
walking (participle)
along the shoreline (prepositional phrase as adverb)
The participial phrase functions as an adjective modifying children.
interested (in) (participle)
music (direct object of action expressed in participle)
early (adverb)
Having been a gymnast, Lynn knew the importance of exercise.
The participial phrase functions as an adjective modifying Lynn.
Having been (participle)
a gymnast (subject complement for Lynn, via state of being expressed in participle)
Placement: In order to prevent confusion, a participial phrase must be placed as close to the noun it modifies as possible, and the noun must be clearly stated.
In the first sentence there is no clear indication of who or what is performing the action expressed in the participle carrying. Certainly foot can't be logically understood to function in this way. This situation is an example of a dangling modifier error since the modifier (the participial phrase) is not modifying any specific noun in the sentence and is thus left "dangling." Since a person must be doing the carrying for the sentence to make sense, a noun or pronoun that refers to a person must be in the place immediately after the participial phrase, as in the second sentence.
Punctuation: When a participial phrase begins a sentence, a comma should be placed after the phrase.
If the participle or participial phrase comes in the middle of a sentence, it should be set off with commas only if the information is not essential to the meaning of the sentence.
Note that if the participial phrase is essential to the meaning of the sentence, no commas should be used:
If a participial phrase comes at the end of a sentence, a comma usually precedes the phrase if it modifies an earlier word in the sentence but not if the phrase directly follows the word it modifies.
https://owl.english.purdue.edu/owl/resource/627/02/