Articulated structure for the reinforcement of footwear articles, comprising a first rigid part, which comprises a sole and an uprising portion for the heel of the user, and a second and a third part, arranged on opposite sides of said first part with respect to the longitudinal center-line plane. It is considered to be the basis for efficient, accurate, with the threshold of sensitivity equal to zero in small-size option solving the tasks of autonomous navigation, piloting, stabilization and etc. The power-loss-inhibiting current-collector further includes a current-limiting portion of the power-loss-inhibiting current-collector. When the value lies within a proper range, a lock process is performed under PLL control, whereas when the value is off the proper range, an unlock state in PLL control is detected. In its method of operation, the workpiece is dynamically gaged by the gage assembly. The intermediate gear is rotatably supported by an eccentric portion provided at an outer periphery of the intermediate-gear support shaft.