A method in gait rehabilitation for detecting a foot being lifted comprises: receiving (102) a plurality of signals from respective pressure sensors (12), mounted beneath a foot of a person, each signal providing a time sequence of values representing asserted pressure； processing the received signals, wherein said processing comprises, for each signal, assigning states to the respective pressure sensor (12) for determining when the foot is being lifted for walking, and wherein said assigning of states comprises: identifying that the sequence of values are maintained above an upper threshold (32) for a duration exceeding a time threshold (36)； and upon such identifying assigning a prepared state to the sensor (12)； and, when the sensor (12) is in the prepared state, identifying (108) a value below a lower threshold (34) indicating that the foot is potentially lifted； and upon such identifying assigning an unprepared state to the sensor (12)； and wherein said processing further comprises, when assigning an unprepared state to a first sensor, determining (110) whether a prepared state is assigned to a second sensor and comparing (112) a priority of the first sensor and the second sensor.
