采用的是脉冲对消法，有CDF三角函数曲线/三维曲线图，实现六自由度运动学逆解算法。- It uses a pulse of consumer law, There CDF trigonometric curve/3D graphs, Six degrees of freedom to achieve inverse kinematics algorithm.

里面有正常人走路的实验数据，程序里实现了如何利用这些数据算出hip knee ankle joint的3D kinematics(how to calculate the 3D kinematics using the normal gait data)