One problem with the rules is that rails are too low - most sailboats are 24" and many powerboats not much more than that. For a big slob like me, 24" is so far below my center of gravity that it is a tripping hazard, not a safety item. The rail just ensures that I will go into the water head first.
I am raising the rails on the flybridge to 32", standard for larger boats, but the bow rails cannot be raised without obscuring forward vision from the lower steering station. I don't know what the solution is, I just have a rule that no one goes forward of the cabin when under weigh, except to handle the anchor. This is all an important issue for me: the crew is 16 now and doesn't need watching so much, but my balance and mobility are not what they used to be, and getting worse every year. I plan to keep the boat even if I have to use a walker, or maybe one of those personal elevator things....
1975 32' Flybridge Sedan, twin Perkins 6-354 diesels, 1:1.53 velvetdrives, 16 X 19 props. Merritt Island, Florida