Algodoo

It's a nice concept. Very original. However, the movement of the pistons are not very smooth. They kind of jam up a bit. Even though, great job. It's very compact.

Yeah good idea but needs more friction on the bottom of the legs and its a bit stuttery 4/5

For foot suspension, I'd suggest using the elasticity of hinges. Take a fe blocks and hinge them together at each end so they make sort of a flexible stack seemed to work well for the walker. Made a nice cushion to step on You could also break the legs into two halves and connect the halves with hinge pairs.