The joint kinematics normalization, joint definition and the foot segment definition. (a) The translation process from the raw movement data to the normalized format suitable for the computer model. (b) Hip, knee and ankle joint definitions. A counterclockwise angle has a positive value. (c) Details of the foot segment size. L1 indicates the horizontal length between the heel and the ankle joint. L2 indicates the horizontal length between the ankle joint and the tip toe.