Various embodiments are described herein for a method and system forimproving a gait of a user with a functional electrical stimulation (FES)orthotic system.In some described embodiments, the method includes receiving motioninformationassociated with the gait of the user； generating a foot orientation indicatorfor the footbased on a foot acceleration and a foot angular velocity provided in themotioninformation； determining a foot condition based on at least the footorientation indicatorand the foot acceleration； and adjusting signal parameters for a stimulationsignal basedon at least the foot condition. The foot condition can indicate a gait qualityof the userand therefore, the stimulation signal is applied to the user to adjust anorientation of thefoot when the gait quality of the user requires improvement.
