This is a single-centre, cross-sectional observational study with adjunctive procedure for the healthy voluteers at IRCCS Ospedale San Raffaele's Rehabilitation Department.

Patients (n=50): use of inertial measurement units (IMU) and electromyographic (EMG) data routinely acquired during their standard clinical gait-rehabilitation sessions (no protocol changes; purely observational, data extracted from treatments).

Healthy volunteers (n=50): age- and sex-matched volunteers who complete three 18 meters gait sessions with IMUs on trunk, thighs, shanks and feet and surface EMG on gluteus, quadriceps, hamstrings, tibialis anterior, and gastrocnemius. Healthy volunteers will be enrolled from hospital personnel, family members of the patients in visit at San Raffaele Hospital.

Data & Analysis: Kinematic (range of motion - ROM, step timing, walking speed) and EMG (activation amplitude/timing) parameters will be extracted. Between-group comparisons will employ t-tests/analysis of variance - ANOVA - (or non-parametric equivalents).

Inclusion Criteria:

• Hospitalized at the Department of Rehabilitation and Functional Recovery of IRCCS Ospedale San Raffaele - Milan (during the hospitalization period)
• Ability to understand and sign informed consent
• ≥ 18 years ≤80 years
• Male and female
• Presence of clinically diagnosed gait impairments
• No skin conditions or allergies preventing sensor application

Exclusion Criteria:

• Cognitive impairment interfering with task comprehension
• Cardiorespiratory instability or other contraindications to walking assessment

Patients (n = 50)

• Age 18-80 years, male and female
• Hospitalized in the Department of Rehabilitation and Functional Recovery (IRCCS Ospedale San Raffaele - Milan) with clinically diagnosed gait impairments
• Able to ambulate independently and safely with or without assistive devices
• Undergoing standard gait-rehabilitation sessions at IRCCS Ospedale San Raffaele

Healthy Volunteers (n = 50)

• Age- and sex-matched to the patient cohort
• No history of neurological, musculoskeletal, or cardiovascular conditions affecting gait
• Willing and able to participate in three 18 meters gait evaluation with sensors