well i've read about this rest step thing that is prescribed by some hikers, and after some consideration i decided to put that idea into the "this will potentially seriously injure you" box.
my reasoning:
ok so ya know those eliptical machines and the like at the gym? the key concept of those are to eliminate impact on your knee joints, also secondary joints such as hips, ankles, and back. know why running tracks are made of cushiony rubber pieces and not concrete or blacktop? know why you hurt when you run on a road but don't elsewhere?
if you don't get where i'm going by now, then maybe it's too late and i shouldn't be typing
anyway, my reasoning and what i'm sharing w/ you guys is: the rest step will definitely increase the pounding of the major joints in the lower half of the body, as well as the back. i seriously advise against using it no matter how tired your legs feel. stepping w/ a straight leg and having all that impact go straight into your knee and hip is not good for anyone, especially people who walk far distances.
eventually your muscles will compensate, but your joints will not...
i'm not a doctor or PT, but this is my belief. thoughts?