A system and method for determining the gait profile of a user. The gait profiler system uses sensing systems that include inertial sensors configured to be positioned at the right and left foot-ankle structure as well as spatial orientation of lower extremity body segments (shanks thighs and trunk) of the person for which the gait profile is to be determined. In an illustrative embodiment the gait profiler system uses two additional inertial sensors at the left and right leg-knee or thigh- hip structure as well as sensors providing information indicative of the angular positions of the left and right knee and thigh which may be provided by an exoskeieton or orthotic devices worn by the user. The determination of the gait profile of the user is then performed using biomechanics information about the user from the inertial sensors combined with the knee and hip angles.
