That's missing the point. Try jump-walking with your legs locked straight on impact. You'll feel the pressure on your joints pretty quickly. Now try walking nor

That's missing the point. Try jump-walking with your legs locked straight on impact. You'll feel the pressure on your joints pretty quickly. Now try walking normally (i.e. hitting your heels with your legs extended while your center of mass barely moves vertically). The acceleration your body accumulates under gravity will be way shorter and so will be the deceleration force your joints have to bring up to compensate.