I have the open loop footrest and with a bit more angle on the heels than necessary. For 7 years, I just rolled with it and ignored the uncomfort. I recently decided to change to this closed loop footrest but I wanted to change the slope at the same time. So I called DMEHub and found they were very patient and knowledgeable to discuss some pros/cons as well as make some good recommendations. As soon as my new footrest arrived, I swapped it out and gave it a test drive. A+++ all day long!!!