The subject's weight and height were measured using analog devices. The motion capture cameras and force plates were calibrated prior to the experiment. 15 wearable sensors (inertial measurement (IMU) plus electromyography (EMG) integrated units) were attached to the participants' lower limbs. 26 passive reflective markers were attached non-invasively on top of skeletal landmarks according to the IOR lower body automated identification of markers (AIM) model. The attachment of sensors and markers is visually illustrated in the additional metadata files associated with the dataset.  The walking procedure involved moving forward for about 5 meters.  Each subject performed this trial approximately 50 times, with administrated breaks to prevent fatigue.  The number of gait bouts in each direction was roughly equal, with each bout covering nearly 5 meters. Subjects walked at their self-selected speeds, and trials with pauses or trips within the force plate area were discarded. Data collection took about 3 hours for healthy subjects and extended to 4-5 hours for those with severe impairments.