This article warrants a careful reading. It also concludes:

Correct Walking Techniques to Avoid Over-strain
In general it is easier - for motion-physiological reasons (proprio-receptor system) -
for healthy hikers to learn and maintain an elastic, safe and joint-relieving walking
technique without the aid of sticks, as opposed to regular stick use.
The following factors are important with regards the degree of strain put on the leg
joints:
• Body weight (excess weight)
• Weight of backpack
• Correct downhill walking technique
The hiker should spread the strain evenly by using elastic and shock-absorbing steps
over as long as possible. This means walking downhill with small, elastic steps at a
comfortable speed without running or jumping. Paths should be used taking the
bends, no short-cuts when walking downhill. Also, one should only undertake
mountain tours in proportion to one's own physical ability.
Following this advice, healthy hikers and climbers may avoid joint problems, even
after decades of intensive mountaineering.


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