A quantitative gait training and/or analysis system includes a pair of footwear modules that may include a shank module and an independent processing module. Each footwear module may have a sole portion, a heel portion, a speaker, vibrotactile transducer and a wireless communication module. Sensors may permit the extraction of gait kinematics in real time and provide feedback from it. Embodiments may store data for later reduction and analysis. Embodiments employing calibration-based estimation of kinematic gait parameters are described.
