A 3D anatomically detailed non-linear finite element analysis human foot model is the final result of density segmentation 3D reconstruction techniques applied in Computed Tomography (CT) scan DICOM standard images in conjunction with 3D Computer Aided Design (CAD) operations. Density segmentation techniques were used to geometrically define the foot bone structure and the encapsulated soft tissues configuration. CAD modelling was applied for geometrical definitions of cartilages and volumes boolean operations. The monitoring of the contact pressure values at the foot plantar area assumes a vital role on the human comfort optimization of shoe insoles. The contact pressure distribution at the foot plantar area and stresses at the bone structures are calculated for this article only for a rigid contact between the plantar foot area and the rigid ground support. Linear and non-linear elastic constitutive material models were implemented to mechanically characterize the behaviour of the biological materials. Furthermore, preliminary numerical results for the model qualitative evaluation are presented.