Fig. 4
(a) Sensor-integrated sleeve used to measure contact forces on a human-shaped dummy. (b) Arrangement of FSR sensors circumferentially around the thigh. (c) Comparison of Force Imbalance Index for each anchoring structure under identical actuator input. The index is defined as the standard deviation of the forces measured across all sensors; lower values indicate more uniform pressure distribution. FII serves as an objective proxy for pressure uniformity and, by extension, comfort at the interface. The rigid system showed significantly greater imbalance than the soft system (\(p < 0.05\)), whereas the proposed system did not differ significantly from the soft system (\(p> 0.1\)).
