wow! what great responses!
I read the trail journal of Sunshine and Balls on the PCT this year.
So I am implementing one of his simple techniques:
Not tying my shoes so tight and walking with a bag of tools (or in his recommendation tire chains) at the local dog park.
The park has a trail with the borders in varying rocks sizes.
So I trail walk some, then walk over the rocks whenever possible.
There are some small hills as well on the perimeter, so I make those a game