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Beyond walking barefoot there are benefits to wearing barefoot mimicking shoes. These are often called barefoot shoes or minimalist shoes. I used to work at a shoe store and had multiple jobs that required me to walk multiple miles each day. During that time I had horrible knee pain in both knees and I could not figure out why.
Come to find out bad shoes and insoles were causing my knee pain as it was throwing my posture off until I learned this:
Now, I exclusively wear Xero shoes (visit their website here) because I know that I am strengthening my posture and preventing weakness, injury and pain simply by mimicking barefoot walking with shoes that allow for my feet, ankles and legs to be balanced in a biomechanically friendly way.