Endoprosthesis, such as a stent, includes at least two annular element defined by a first set of strut members interconnected to define apices proximate opposite sides of the annular element (20). The annular element (20) further includes a foot extension (40) extending between at least one pair of circumferentially-adjacent strut members (20). The foot extension has first (41) and second (43) foot portions extending circumferentially from corresponding ends of the circumferentially-adjacent strut members, and are contoured to provide at least two areas of flexure. The first and second foot portions are joined at a toe portion (48) of the foot extension, and define a circumferentially-directed apex between the pair of circumferentially-adjacent strut members. At least one connection between two annular elements includes a foot extension of a first annular element and an apex defined by direct interconnection between circumferentially adjacent strut members of a second annular element.
