Harvard study on barefoot running. Short little video, powerful message and research.http://www.youtube.com/watch?v=7jrnj-7YKZE
Scott Jurek, maybe the best ultrarunner alive, shows how to run uphill.http://www.youtube.com/watch?v=TB5xdxgS-dQ
In my opinion, the form doesn't change much. It's all about utilizing our physiology to it's optimal efficiency. having the whole foot land on the ground at the same time is less than optimal as it negates the spring/shock absorption of the mid foot and the achilles tendon. Especially with your knee pain, I would recommend starting on a soft surface with bare feet. Start from scratch, at least get the feeling familiar for you, of landing on the ideal spot on your feet. If you go to concrete, wear some flats.
All that said, START SLOWLY! Without ever having used your feet as they were designed to, your supporting muscles will be virtually new to use. You've likely been wearing a cast on your foot since birth. Be very gentle and they will respond, as all muscles do, to consistent training. I put myself on the couch for 4 weeks when I first heard of barefoot running and hit the streets for 5 miles the first day. I then started slowly and I can now run 10 miles barefoot, no shoes, no nothing, and feel fine; and that's on city sidewalks and streets.
Just as someone who has never done pullups can't do sets of 10. You, having never run barefoot, can't run long distances yet, but you surely will with perfect practice, perseverance, and patience.
We can play with this at Woodstock too. =)