Through the examination of human gait in challenging environments, valuable knowledge can be acquired regarding the biomechanics of walking on unstable surfaces. This understanding is crucial for advancing the development of resilient and steady robotic systems. Human gait serves as a benchmark for performance and a significant source of inspiration for legged machines, improving the stability and functionality of robotic technology. Wearable systems offer distinct advantages over traditional laboratory-based setups when studying human gait in challenging conditions. They enable data collection in real-world environments that closely resemble the conditions encountered by legged robots. This study aims to validate the use of the INDIP system, a wearable multi-sensor system comprising inertial modules, pressure insoles, and distance sensors, for accurately characterizing gait in diverse and unstructured terrains.