YouTube user Roland Warzecha has produced an interesting video on this subject. He's disabled embedding, but you can view it at this link. Recommended.
He's listed the video as "outdated", saying:
I have learned a lot about this topic ever since this video was recorded, and consider the presentation incomplete now, which is why it is not listed any more.
However, his updated video is restricted to his Patreon subscribers, and isn't available for public viewing; therefore, I've chosen to link the earlier version. Even if he regards it as "incomplete", it's an interesting concept. I agree with his comments about "ball-walking": I've seen the same thing in some (not all) savanna tribes in Africa.
I think it'd be rather painful to re-learn to walk the medieval way, and we'd need a drastic change of shoe and boot design. I daresay modern footwear such as the well-known Vibram Five Fingers range of fitness shoes (and their knock-offs) would work well for the purpose. However, I'm too old and crotchety to change now!