Same reason as sitting still in the same position for too long will eventually hurt. Your organic body isn’t meant to be a statue. So if any part of your body has to maintain a certain position, or in this case if your feet have to constantly support your body weight without even lifting them to walk, they simply get worn out from the pressure.
Humans , and many other animals/mammals, were made to RUN. Like all day. Like all week like all your life your body was made to run run run. We were definitely not made to stand, evolutionarily speaking that is. You are using muscles that your mind has other ideas for and your brain is telling you to do something else. Or if you want to use big words to sound sciencey we could say the motor outputs are not receiving enough stimulation from the mind’s motivational centers (think the Pallidus and Striatum) to continue standing there and doing tasks with no immediate rewards.
Static vs Dynamic load on your muscles.
When you walk around, you use different sets of muscles for different motions like moving your legs forward and backward or balancing on one leg as you take a step. As you use one set of muscles, the other set gets a tiny break.
When you’re trying to remain still (standing or holding something in place), you’re likely using the same group of muscles for a long time without breaks. Naturally, this one group of muscles will get tired much faster.
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