Walking assist devices are effective in managing and rehabilitating lower limb joint conditions, such as Knee Osteoarthritis, as long as the user has an adequate walking technique that maintains proper Body Weight Support. Nowadays, walking canes have started incorporating advanced measurement equipment to train users to maintain body weight support during walking. Previous developments of “smart” or instrumented canes rely on vibrotactile or auditory stimuli to deliver feedback associated with maximum Body Weight Support and to monitor net bearing force and spatial attitude of the walking cane. This work presents the development and verification of a novel bi-modal haptic feedback walking cane using both vibrotactile and auditory stimuli to inform a user on Body Weight Support and to monitor the dynamics of the cane during gait analyses by combining force and inertial measurements. Verification testing demonstrates the technical viability of the system in recording and communicating maximum vertical forces and cane dynamics. Future work will evaluate the usability, safety, and effectiveness of the bi-modal haptic feedback cane to educate users on the appropriate walking technique.