Han Sen's fitness was no worse than that of the minotaurs. He used his Dongxuan Aura to keep track of each minotaur's movement in his mind.
Every possible way they could move, and every subsequent calculation, was in his brain. And after his mind worked its way through the hundreds of tracks and ways he could follow, he found one that would get him through safely.
Behind Han Sen, the monster ended up running into the crowd of minotaurs. It wasn't gentle like he had been, though, and it rushed and stomped its way through.
A few of the minotaurs were sent flying. It was immediately apparent that the creature's shell and strength exceeded that of the minotaurs.
The legion of heavy-armor minotaurs was thrown into chaos, after that. They instantly recognized the beast to be a greater threat to them than Han Sen, and so they all turned their attention towards it.