Figure 6
Top view visualization of steering and propulsion. This adapted version of Figure 4 shows the effect of the differences in mean power output of individual pushes with regard to steering. Blue circles are pushes where the Smartwheel measured more power leading to a change in the direction of the blue arrow. Vice versa for the Optipush the red circles lead to a change in the direction of the red arrow. Result is the green arrow, which was the overall outcome (staying on the treadmill).