I'm looking for a word describing someone that felt undermined, stepped on by an action I did. It would work in a sentence like "I am sorry if I (word) you". I'm looking for a softer word than "offended", something with a more emotional connotation.
Consider slighted, the past participle of slight, which has senses including "To treat with disdain or neglect" and "To act negligently or carelessly." Much less formally, to diss means "To put (someone) down, or show disrespect by the use of insulting language or dismissive behaviour."
I think of slight and diss as slightly more neutral words than offend, rather than "more emotional". Perhaps what you want are words that are "more sensitive" rather than "more emotional". For example, to say either "I'm sorry if I cut you off at the knees" or "I'm sorry if I knocked the stuffing out of you" would be more emotional but less sensitive.