This discusses stability constraints

1. Normalized SSM/SDM Deviation for Each Direction
with Different Load

2. Normalized SSM Deviation for Normal Surface

3. Normalized SSM Deviation for Pressure Mat

4. Normalized SDM Deviation for Normal Surface

5. Normalized SDM Deviation for Pressure Mat

6. Normalized SSM/SDM Deviation for Each Load
with Different Direction

7. Normalized SSM Deviation for Normal Surface

8. Normalized SSM Deviation for Pressure Mat

9. Normalized SDM Deviation for Normal Surface

10. Normalized SDM Deviation for Pressure Mat

11. Ordered as per direction

12. Case1: Barefoot on the normal flat surface
F FR R BR B BL L FL
0 5 10 15 20
KG
0 5 10 15 20
KG
0 5 10 15 20
KG
0 5 10 15 20
KG

13. Case2: Barefoot on pressure mat
F FR R BR B BL L FL
0 10 20
KG
0 10 20
KG
0 10 20
KG
0 10 20
KG
Empirical SDM is
closely following the
theoretical SDM
This means that
discomfort measure
between the
empirical and
theoretical is more in-
line

14. F FR R BR B BL L FL
0 5 10 15 20
KG
0 5 10 15 20
KG
0 5 10 15 20
KG
0 5 10 15 20
KG
Case1: Barefoot on the normal flat surface
0 5 10 15 20
KG

15. Case2: Barefoot on pressure mat
F FR R BR B BL L FL
0 10 20
KG
0 10 20
KG
0 10 20
KG
0 10 20
KG

16. Ordered as per load carried

17. F FR R BR B BL L FL F FR R BR B BL L FL
F FR R BR B BL L FL
F FR R BR B BL L FL
F FR R BR B BL L FL
Carried
Load= 0 Kg
Carried
Load= 5 Kg
Carried
Load= 10 Kg
Carried
Load= 15 Kg
Carried
Load= 20 Kg
Case1: Barefoot on the normal flat surface

18. Case2: Barefoot on pressure mat
F FR R BR B BL L FL
F FR R BR B BL L FL
F FR R BR B BL L FL
Carried
Load= 0 Kg
Carried
Load= 10 Kg
Carried
Load= 5 Kg

19. Case1: Barefoot on the normal flat surface
F FR R BR B BL L FL
F FR R BR B BL L FL
F FR R BR B BL L FL
F FR R BR B BL L FL
F FR R BR B BL L FL
Carried
Load= 0 Kg
Carried
Load= 5 Kg
Carried
Load= 10 Kg
Carried
Load= 15 Kg
Carried
Load=
20 Kg

20. Case2: Barefoot on pressure mat
F FR R BR B BL L FL F FR R BR B BL L FL F FR R BR B BL L FL
Carried
Load= 0 Kg
Carried
Load= 5 Kg
Carried
Load= 10 Kg