The article discusses the evolution of methods for capturing human movement, particularly focusing on the development of markerless motion capture systems for biomechanical applications. The authors highlight the limitations of traditional marker-based systems, which require laboratory environments and can introduce artifacts due to skin movement and artificial stimuli. They introduce a new approach using visual hulls and an articulated iterative closest point (ICP) algorithm with soft joint constraints to accurately capture 3D human movement without markers. This method is evaluated through theoretical and experimental studies, demonstrating its potential for precise and non-invasive measurement of human movement in clinical and research settings. The results show that the markerless system can provide comparable accuracy to marker-based systems, making it a promising tool for studying normal and pathological human movement.The article discusses the evolution of methods for capturing human movement, particularly focusing on the development of markerless motion capture systems for biomechanical applications. The authors highlight the limitations of traditional marker-based systems, which require laboratory environments and can introduce artifacts due to skin movement and artificial stimuli. They introduce a new approach using visual hulls and an articulated iterative closest point (ICP) algorithm with soft joint constraints to accurately capture 3D human movement without markers. This method is evaluated through theoretical and experimental studies, demonstrating its potential for precise and non-invasive measurement of human movement in clinical and research settings. The results show that the markerless system can provide comparable accuracy to marker-based systems, making it a promising tool for studying normal and pathological human movement.