Biomechanical model for motion capture

Hello Forum, we're currently working on a motion capture system. We apply the rotations directly to the limbs of the model via Quaternions we get from our motion capture system. My question is, is there a (known?) way to add correct kinematic or physics to the model while accessing the transform's rotations directly? In short, we would like to let the model walk = change the position, when the user walks. Therefore, we would need some biomechanical weights for each body part (I assume) and the grip of the feet and so on. Maybe this works already with ragdolls, I haven't worked with that before. If someone has an idea, I'd highly appreciate any answer! Best regards