Animating a 3D human skeleton in Unity -- looking for project advice!

Hey guys, I am working on a research project in human physiology. I am being given motion sensor signals telling me how much a various joint has rotated. The joints I need to animate are the elbows, the shoulders, knees, hips, wrists, and ankles. For ball-in-socket joints I have roll/pitch/yaw relative to some reference frame.

My task is to visually display these angular changes on an animated skeleton in the Unity game development environment. So if I am given a sequence of e.g. right elbow angles, say (0 deg, 15 deg, 30 deg, 45 deg, 60 deg, 90 deg, 105 deg, 120 deg) then I would like to animate that skeleton model going from a straight elbow to a retracted one.

I have actually used Unity before but it's been over 3 years and didn't do much more than a beginner project.. But I have a good coding background otherwise.

I have broken down this task into a few questions, which I would really appreciate your advice:

1) Can someone recommend a simple 3D skeleton model I could use that has the necessary joints which can be accessed programmatically? Where should I even look? E.g. I'm doing some browsing on https://www.assetstore.unity3d.com/en/#!/search/page=1/sortby=relevance/query=category:9&skeleton

2) How does one, in Unity, programmatically control a joint angle? This is a broad question, so a simple example would suffice to get me going. What I know roughly is that I can create a behavior script, then hopefully somehow define a specific part of the 3D model (elbow joint), which hopefully has a "rotate" property or something.

Answers, advice, and example projects/code are incredibly appreciated, thanks Unity community!