Humanoid with custom motion (like exercise)

Hi,

I'm working on a live motion-tracking system, in which the humanoid basically has to follow the user wearing some wearable sensors (accelerometer sensors), placed on his body. Currently, i'm calculating the angles of the user, from the accelerometer sensors, then rotating the corresponding bones manually. So if the sensor is placed on player's thigh, and the player lifts the leg, the character should also lift the leg. But if the player squats down, is there a better way of making the character squat too, other than manually calculating all the angles for upper-leg, lower-leg, foot, and the position of the spine, so the character is grounded during this motion instead of lifting both legs in the air.

Please let me know, if this can somehow be done, in a better way (may be through animations, etc.)?

Thank you