While the biodynamics of walking have been extensively studied in medicine, particularly in prosthetics, current gait analysis methods do not offer a comprehensive assessment of “normality” during rehabilitation. Furthermore, no dedicated hardware tools exist for long-term monitoring of post-traumatic patient rehabilitation. This highlights the particular relevance of individual monitoring, especially in the later stages of rehabilitation and in real-world conditions. The study and mathematical description of normal versus pathological gait, using data from Inertial Measurement Unit (IMU) devices, are crucial for developing effective methods for such patients. This paper explores the possibility of developing generalized walking parameters. A key feature is the utilization of difference angles between lower limb segments across three coordinates. The analysis employs data from four sensors, including accelerometers and gyroscopes. The analysis was carried out on the gait of four individuals, both during normal walking and while using a treadmill at different speeds. Gait with limited mobility in one leg was also assessed. Parameters for gait monitoring and correction were calculated and validated based on existing studies on leg biomechanics. These results formed the basis for the development of a hardware and software complex for assessing patients’ gait.