is it uncomfortable on the ankles and feet?

Very. I've tried it with sneakers and thick socks and no sneakers with two pairs of thick socks. Both ways are really bad. I read somewhere someone said where cowboy boots. I don't own any. I will be sending back and looking into another foot mechanism inverter. It's a shame bc the ones that looks like less torture on feet are 100.00 more.

What are the angles of the 4 positions? Can it go to 180 degrees?

First of all, I love my Innova, best one I've ever had. If you want one, you won't go wrong with this one! Now to answer your questioin, I went downstairs and checked the four positions. You understand that each of these position are just stop points that won't all you to invert more than that stop position. The first I'd say is a little more that 90 degrees, say about 100 or so. Then the second stop position is about 125, the third about 150 and the last allows you to invert all the way to 180 degrees, and that is when all the money falls out of your pockets. Also understand too that if you have the foot rest set at the right length for your height, that you can have the pin in the 180 degree stop point, and use your arms to control how far back you invert simply by moving your arms from your waist to over your head. Once you get the hang of it, it is really easy to slowly invert to any level just my moving your arms forward and backward. You can also grab the side rails and pull yourself back upright at anytime if you wish. Hope this helps. They say you only need to use this 3-5 minutes a day, but I've fallen asleep on it many times with the heat and vibration gonig on in my low back, boy does that feel great on my sore back. It does help the back also. You'll notice that once you come back up from inverting for a few minutes, you'll feel the back pain increase just for a moment or so and then it will be much better for the rest of the day. I don't really know why this is and don't know if everyone would experience this as I do. I just have to give myself a couple seconds once I come back up to kind of get myself back together again, it's no biggie thou and just wanted to share that. I keep my pin in the third hole which is an inversion to about 150 degrees, that is quite comfortable. Inverting to the 4th pin which is all the way upside down to 180 I feel puts too much pressure on your ankles in the foot sturips (sp) and too much pressure on my head with the blood all flowing into my head and sinuses.

is the lumbar pad run by batteries?

No it has an electrical cord that plugs into the wall. It is a pretty long cord and it can be disconnected near the pad if you want to hide the electrical cord until you want to use it.

Assembly required	Yes
Shape	Rectangular
Item depth	116.84 cm
Item dimensions L x W x H	116.8 x 71.1 x 160 centimeters
Product care instructions	Wipe clean with a dry or damp cloth, remove head pad if necessary and clean separately
Global Trade Identification Number	00700220357952
Material	Multiple
Manufacturer	Innova Products, Inc.
UPC	700220357952
Color	black blue and gray
Material Composition	Foam
Height	6 inches
Length	51 inches
Weight	63 Pounds
Width	23 inches
Material Type	Multiple
Number of Items	1
Number of Pieces	1
Included Components	parts to install inversion table
Batteries Included?	No
Department	unisex-adult
Item model number	ITM4800
Product Dimensions	116.84 x 71.12 x 160.02 cm; 25.85 kg
ASIN	B00F950N2G

INNOVA HEALTH AND FITNESS ITM4800 Advanced Heat and Massage Inversion Table,Black/Blue/Gray

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