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"The bottom line in the Dune trilogy is: beware of heroes. Much better to rely on your own judgment, and your own mistakes."
- Frank Herbert

Flexible Sprung Boots  
  Boots designed to be flexible when walking, but upon a hard step, will have a spring characteristic.  

Hunt noticed the soles of the boots were surprisingly thick.

“Sprung interior,” Danchekker supplied, following his gaze.

“What’s that?”

“It’s quite ingenious. The mechanical properties of the sole material vary with applied pressure. With the wearer walking at normal speed, the sole would remain mildly flexible. Under impact, however, for example if he jumped, it assumes the characteristics of a stiff spring. It’s an ideal device for kangarooing along in lunar gravity, utilizing conditions of reduced weight but normal inertia to advantage.

Technovelgy from Inherit the Stars, by James P. Hogan.
Published by Del Rey in 1977
Additional resources -

Compare to space-boots from The Passing of Ku Sui (1932) by Anthony Gilmore, magnetic boots from Salvage in Space (1933) by Jack Williamson, antigrav boots from The Day We Celebrate (1941) by Nelson S. Bond, magnetic shoes from The Dual World (1938) by Arthur K. Barnes, Steel-Lined Space Boots from Roamer of the Stars (1938) by Clyde Wilson, the neutronium slippers from Revolt on the Tenth World (1940) by Edmond Hamilton, space socks from Lost Rocket (1941) by Manly Wade Wellman, the weight shoes from The World With A Thousand Moons (1942) by Edmond Hamilton, magnetic sandals from The Warriors (1966) by Larry Niven, magnetic-soled shoes from Space Tug (1953) by Murray Leinster and the grip shoes from 2001: A Space Odyssey (1968) by Arthur C. Clarke.

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Additional resources:
  More Ideas and Technology from Inherit the Stars
  More Ideas and Technology by James P. Hogan
  Tech news articles related to Inherit the Stars
  Tech news articles related to works by James P. Hogan

Flexible Sprung Boots-related news articles:
  - Sole Morphing Astronaut Boots - A New Pair Of Moon Boots?

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First Trips To Mars Announced By Elon Musk
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SpaceX EVA Spacesuit Tested By Polaris Dawn Crew
ESA To Build Moon Bases Brick By Printed LEGO Brick

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