A mine avoidance and protection device has a frame adapted to be secured to a source of a load, such as the foot of a person. Attached to the frame are at least three support legs each extending from the frame. Each leg has a releasable joint between the leg and the frame. At least one detector is operable to provide a detection capability for each support leg, operable to detect a characteristic of a mine when at least a portion of the support leg is located proximate to the mine. An actuator operable to provide an actuation capability at the joint of each leg, to: constrain the joint to allow a load to be transmitted from the frame, through the joint and the support to the terrain. The actuator can also release the joint such that a load can not be transmitted from the frame through the joint. The joint between the plate and each leg may be a one degree-of-freedom prismatic joint or revolute joint.