1. A method of tracking a human target, the method comprising: receiving an observed depth image of the human target from a source, the observed depth image including a plurality of observed pixels; obtaining a synthesized depth image of a model representing the human target, the synthesized depth image including a plurality of synthesized pixels; classifying a synthesized pixel of the plurality of synthesized pixels with a pixel case; computing a force vector for the synthesized pixel based on the pixel case of the synthesized pixel; and mapping the force vector to one or more force-receiving locations of the model representing the human target to adjust the model representing the human target into an adjusted pose.