diff --git a/CHANGELOG.md b/CHANGELOG.md
index 85b3a0e..3e3a461 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+1.6.1
+
+- changed: `on select` options using `pin feet` target selected bones instead (wuthout the option only target bones with `foot` in name)
+
 1.6.0
 
 - added: World space copy/paste from `Pin tool` panel can now copy/paste multiple selected posebones positions
diff --git a/OP_expand_cycle_step.py b/OP_expand_cycle_step.py
index 898957c..a2eac6a 100644
--- a/OP_expand_cycle_step.py
+++ b/OP_expand_cycle_step.py
@@ -273,8 +273,11 @@ def pin_down_feets():
     if obj.type != 'ARMATURE':
         print('ERROR', 'active is not an armature type')
         return
+
     debug = fn.get_addon_prefs().debug
+
     scn = bpy.context.scene
+    on_selected = scn.anim_cycle_settings.expand_on_selected_bones
     # Delete current action if its not the main one
     # create a new '_pinned' one 
     act = fn.set_generated_action(obj)
@@ -346,8 +349,8 @@ def pin_down_feets():
 
             b_name = fcu.data_path.split('"')[1] # print('b_name: ', b_name, fcu.is_valid)
             
-            ## TEST : only foot bones
-            if not 'foot' in b_name:
+            ## if working without selection, target only foot bones.
+            if not on_selected and not 'foot' in b_name:
                 continue
 
             pb = obj.pose.bones.get(b_name)
@@ -355,6 +358,10 @@ def pin_down_feets():
                 print(f'{b_name} is invalid')
                 continue
             
+            if on_selected and not pb.bone.select:
+                # filter selection
+                continue
+
             contact_ranges = []
             start_contact = None
             prev = None
diff --git a/__init__.py b/__init__.py
index 5bbb1b9..f3bed84 100644
--- a/__init__.py
+++ b/__init__.py
@@ -4,7 +4,7 @@ bl_info = {
     "name": "Auto Walk",
     "description": "Develop a walk/run cycles along a curve and pin feets",
     "author": "Samuel Bernou",
-    "version": (1, 6, 0),
+    "version": (1, 6, 1),
     "blender": (3, 0, 0),
     "location": "View3D",
     "warning": "",