Abstract: The invention measures propulsive force of an ambulating subject to provide real-time feedback, which may be used for clinical assessment or rehabilitation/training such as that related to walking ability, or any other form of ambulation. Subjects with propulsive deficits have a considerable and underutilized propulsive reserve available during level ambulation. The invention uses real-time propulsive feedback as a therapeutic strategy to encourage a subject to access the propulsive reserve and improve forward propulsion during ambulation.