The other thing is that you really should not use IK on both feet and hands at the same time.  IK on hands is best used for hands on a steering wheel that moves back and forth.  The movement should be small so that you don't bend the joint into weird angles.

Poser 5, 6, 7, 8, Poser Pro 9 (2012), 10 (2014), 11, 12, 13