The aim of the project is to determine joint angles and force profile of a human foot and human position during walking sequence. For this purpose, four Force Sensing Resistors (FSR), three Magnetic Encoder (MRV50), an IMU (UM6), an Arduino Fio microcontroller board and a computer are used. Four FSRs are connected to sole of leg, three magnetic encoders are connected to joints of the leg and the accelerometer is connected to human body. The information taken form sensors (magnetic encoders and force sensing resistors) and IMU (UM6) are sent to computer via serial communication (UART). In the computer, angle values and force values of the healthy human leg and human body position in three axes are sketched by using MATLAB.