The dataset contained walking data of 41 volunteers, including 20 women and 21 men. Each volunteer walked on asphalt and SLATE roads for six times, each time for less than one minute. In addition, the dataset also included gait data on stairs and stairs. The data acquisition frequency is 100HZ, and a total of four sensors are used to collect data. The sensor numbered 001 is located on the left knee, the sensor numbered 001 is located on the right wrist, the sensor numbered 003 is located on the left ankle, and the sensor 004 is located on the back of the waist.