Algorithm 1. Data processing

Input: motion capture data Data Output: parameter vectors vParam 1. Load Data in structure format according to (1) 2. Data(step) ← Divide Data by steps 3. For each step 4.   Data(step, phase) ← Divide Data by step phases 5. End for 6. For each step and phase 7.   Angle(step, phase) ← Calculate joint angles by Equations (2) and (3) 8.   vParam(step, phase) ← Approximate Angle(step, phase) 9.   vParam(step, phase) ← Calculate volume of motion by Equations (6) and (7) 10. End for