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The best way to strengthen the feet and ankles, though, is to walk (or run), especially on irregular terrain, and especially while carrying a backpack.

If you're lucky enough to live near the beach, I think walking on sand is a great way to strengthen the feet.

The famous old physical culture expert, Bernarr Macfadden, was a big advocate of walking barefoot. He especially liked to walk barefoot in the grass in the morning when there was dew on the grass. That's kind of dangerous, though. I once cut the bottom of my foot badly when i stepped on a broken beer bottle in the grass - about eight miles into the woods, too.