Various embodiments are described herein for a method and system for facilitating a gait of a user with a functional electrical stimulation (FES) orthotic system. In some described embodiments, the method includes receiving a foot orientation indicator for a foot of the user receiving a body inclination indicator for the user determining a motion state based on the foot orientation indicator and the body inclination indicator and defining signal parameters for a stimulation signal based on at least the motion state. The motion state can indicate a movement status of the user and therefore, the stimulation signal can be applied to the user for facilitating the gait of the user.
