What type of surface were human feet originally adapted to

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Human feet were originally adapted for arboreal life, resembling those of apes, which facilitated movement in trees. As humans evolved to walk upright, significant physiological changes occurred, including the shortening of toes and the migration of the big toe from an opposable position to a forward-facing one, enhancing balance. These adaptations reflect the transition from a tree-dwelling lifestyle to bipedal locomotion on terrestrial surfaces.

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What type of surface were human feet originally adapted to navigate (plain/savannah, desert, ect.) and have there been any significant physiological changes to the foot throughout human evolution or between humans inhabiting different environments?

Thank you.
 
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As far as I know, they were originally more like those of an ape, designed for life in trees. As we began walking upright, the toes shortened and the big one migrated from its opposable position to the front for balance.
 

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