Analysis of heel strike

I wouldn't have to be my own therapist and doctor if they would do their f*cking jobs and write up publicly available and understandable stroke protocols.
When I walk my left heel contacts the ground first as the left picture shows, the foot is not aligned straight forward as in this picture but is slightly angled to the left. Spasticity is causing both of these problems. By walking this way I need good friction contact at that heel location because the forward momentum will flatten out the shoe and turn the shoe straight. This is my major problem when walking on ice, I have to completely adjust my walking to land with as flat a foot as possible.
My lower leg swing has my foot slightly to the inside of my knee and my knee is outside my hip.
I'm not sure how I'm going to correct this because I need to solve spasticity first. Fuck you William M. Landau for spouting off about spasticity and basically preventing continued research in the area.

Spasticity After Stroke: Why Bother?