A sole construction for supporting at least a portion of a human foot and for providing energy storage and return is provided. The sole construction includes a generally horizontal layer of stretchable material, at least one chamber positioned adjacent a first side of the layer, and at least one actuator positioned adjacent a second side of the layer vertically aligned with a corresponding chamber. Each actuator has a footprint size smaller than that of the corresponding chamber, and is sized and arranged to provide individual support to the bones of the human foot. The support structure when compressed causes the actuator to push against the layer and move the layer at least partially into the corresponding chamber. In one embodiment, dual action energy storage and rebound is provided by using a plurality of actuators that move both upwardly and downwardly into corresponding chambers. In another embodiment, lateral stability is improved by using tapered actuators having a convex shape to accommodate the natural rolling movement of the foot.