Abstract: A method and apparatus for estimating kinematic information of human motion are provided. The method and apparatus comprises, calculating a length change and angle of a leg spring from a trajectory of human motion by using a compliant walking model modeling a human leg as the spring, and estimating kinematic information including at least one of a ground reaction force, a lower limb angle, an ankle joint trajectory and an ankle joint torque by using the length change and the angle. The compliant walking model comprises an off-centered curvy foot modeling a human foot, a lower limb-ankle spring modeling ranging from the CoM to the ankle joint, and an ankle-foot spring modeling ranging from the ankle joint to the curvy foot.