Gait analysis using wearable sensors is an inexpensive, convenient, and efficient method for providing useful information for multiple health-related applications. As a clinical tool, it has shown great prospects in rehabilitation, diagnosis, and sport activities. This paper reviews available wearable sensors and ambulatory gait analysis methods based on various wearable sensors. It introduces the gait phases, principles, and features of wearable sensors used in gait analysis, and divides gait analysis methods into gait kinematics, gait kinetics, and electromyography (EMG). The current methods are reviewed, and applications in sports, rehabilitation, and clinical diagnosis are summarized. With the development of sensor technology and analysis methods, gait analysis using wearable sensors is expected to play an increasingly important role in clinical applications. Gait analysis involves the systematic study of human locomotion, including the measurement, description, and assessment of quantities that characterize human locomotion. It helps identify gait phases, determine kinematic and kinetic parameters, and evaluate musculoskeletal functions. Gait analysis has been used in sports, rehabilitation, and health diagnostics. For example, it is used to recognize faults in athlete performances, monitor patient healing progress, and discriminate between asymptomatic subjects and patients with medial knee osteoarthritis based on accelerometers and gyroscopes. Gait analysis using wearable sensors involves motion sensors worn or attached to various parts of the body, such as the foot and waist. These sensors, including accelerometers, gyrosensors, force sensors, strain gauges, inclinometers, and goniometers, can measure various characteristics of the human gait. The movement signals recorded by these sensors can be used for gait analysis. For example, the temporal characteristics of gait are collected and estimated from body-worn accelerometers and pressure sensors inside footwear. The paper reviews the current status of gait analysis technology based on wearable sensors. Section 2 introduces the gait phases of human walking and the working principles of wearable sensors. Section 3 reviews the research methods and primary results on gait analysis using wearable sensors. Section 4 provides a comprehensive outlook for the various applications of gait analysis based on wearable sensors. The conclusions are presented in Section 5. The paper concludes that gait analysis using wearable sensors is a useful tool in clinical practice and biomechanical research, and with the development of sensor technology and analysis methods, it is expected to play an increasingly important role in clinical applications.Gait analysis using wearable sensors is an inexpensive, convenient, and efficient method for providing useful information for multiple health-related applications. As a clinical tool, it has shown great prospects in rehabilitation, diagnosis, and sport activities. This paper reviews available wearable sensors and ambulatory gait analysis methods based on various wearable sensors. It introduces the gait phases, principles, and features of wearable sensors used in gait analysis, and divides gait analysis methods into gait kinematics, gait kinetics, and electromyography (EMG). The current methods are reviewed, and applications in sports, rehabilitation, and clinical diagnosis are summarized. With the development of sensor technology and analysis methods, gait analysis using wearable sensors is expected to play an increasingly important role in clinical applications. Gait analysis involves the systematic study of human locomotion, including the measurement, description, and assessment of quantities that characterize human locomotion. It helps identify gait phases, determine kinematic and kinetic parameters, and evaluate musculoskeletal functions. Gait analysis has been used in sports, rehabilitation, and health diagnostics. For example, it is used to recognize faults in athlete performances, monitor patient healing progress, and discriminate between asymptomatic subjects and patients with medial knee osteoarthritis based on accelerometers and gyroscopes. Gait analysis using wearable sensors involves motion sensors worn or attached to various parts of the body, such as the foot and waist. These sensors, including accelerometers, gyrosensors, force sensors, strain gauges, inclinometers, and goniometers, can measure various characteristics of the human gait. The movement signals recorded by these sensors can be used for gait analysis. For example, the temporal characteristics of gait are collected and estimated from body-worn accelerometers and pressure sensors inside footwear. The paper reviews the current status of gait analysis technology based on wearable sensors. Section 2 introduces the gait phases of human walking and the working principles of wearable sensors. Section 3 reviews the research methods and primary results on gait analysis using wearable sensors. Section 4 provides a comprehensive outlook for the various applications of gait analysis based on wearable sensors. The conclusions are presented in Section 5. The paper concludes that gait analysis using wearable sensors is a useful tool in clinical practice and biomechanical research, and with the development of sensor technology and analysis methods, it is expected to play an increasingly important role in clinical applications.