Various embodiments are described herein for a method and system for improving a gait of a user with a functional electrical stimulation (FES) orthotic system. In some described embodiments, the method includes receiving motion information associated with the gait of the user； generating a foot orientation indicator for the foot based on a foot acceleration and a foot angular velocity provided in the motion information； determining a foot condition based on at least the foot orientation indicator and the foot acceleration； and adjusting signal parameters for a stimulation signal based on at least the foot condition. The foot condition can indicate a gait quality of the user and therefore, the stimulation signal is applied to the user to adjust an orientation of the foot when the gait quality of the user requires improvement.
