Embodiments provide a support structure for an article of footwear, which may include upper and lower support elements, upper and lower members, a compression element disposed between the upper and lower members, and a torsion element. A vertical force applied to the upper support element compresses the compression element, rotationally displaces in a first direction the upper member relative to the lower member, rotationally displaces in the first direction a second portion of the torsion element relative to a first portion of the torsion element, deflects a torsion loading portion of the torsion element, and moves the upper member vertically toward the lower member. Upon release of the force, the torsion loading portion rotationally displaces in a second direction opposite to the first direction the second portion of the torsion element relative to the first portion. Embodiments of methods of manufacturing a support structure are also disclosed.