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Realistic motion reconstruction is the first step for ‘human like’ motion simulation by a digital human. In a recent European research project REALMAN (IST 2000-29357), a model-based motion reconstruction method from external marker trajectories was developed. It consists of two steps. The first one is to define a digital twin of a real subject using the technique of superimposing a digital human model upon at least two photos of different view, and identifying marker positions on it. In a second step, joint angles are estimated by using a kinematic model of the human body which is described using natural coordinates: coordinates of points and components of unit vectors for defining the joint locations. The model includes a detailed description of the torso, arms and legs, with simplified hands and feet. A total of 26 joints are used, connecting 27 rigid links, among them 6 located on the spine.