Abstract: A method for treating certain patients with walking impediments, such as stroke patents, are trained to walk more effectively by providing audio signals to them to reinforce them when they are walking properly, or to warn them to take remedial action when they are walking improperly. Sensors in an insert or shoe sense distribution of weight and foot strikes against a ground surface while walking, and an IMU senses foot movement. Outputs from these devices are analyzed by a processing system to detect when the patient is walking with an impediment, such as one that may cause stumbling and/or falling, and an audio warning is provided so the patient can train himself/herself to walk more properly. Such a device may also be used by a clinician to analyze foot problems in a rehabilitation setting, and devise a treatment protocol for the patient outside a rehabilitation setting.