Table 11.

Summary of experimental results (Flat surface: v = ZO, $S_g$ = ZO).

Timestamp	Sub plot	Grip force	Posture	Control remedy
5 s	1st	$f_f$ = M, $f_d$ = M	Normal walking	ZO → PS
Analysis: Need some forward force to main “normal walking” Afterwards: Walker moves forward with a normal speed (5 s~8 s) Evaluation: Meet expectations or not. Answer: YES
Timestamp	Sub plot	Grip force	Posture	Control remedy
11 s	3rd	$f_f$ = M, $f_d$= S	Leaning forward	ZO → NS
Analysis: Need some backward force to regain stability Afterwards: Walker moves forward with a normal speed (13 s~25 s) Evaluation: Meet expectations or not. Answer: YES