We investigated the relationship between kinematic and kinetic characteristics of foot joints resisting ground reaction force (GRF). Passive elastic characteristics of joint were obtained from the experiment using three cameras and one force plate. The relationship between joint angle and moment was mathematically modeled by using least square method. The calculated ranges of motion were 7o for TM joint, 4o for TT joint and 20o for MP joint. With the model that relates joint angle and plantar pressure, we could get the kinematic data of the joints which are not available from conventional motion analysis. The model can be used not only for biomechanical analysis which simulates gait but also for the clinical evaluations.