Traumatic injuries or pathologies of the nervous system can impair walking, substantially worsening the quality of life in affected patients. As improved rehabilitation techniques and neurotechnologies help restore walking in impaired patients, more sophisticated measurement systems and algorithms need to be developed to perform quantitative assessments. Such recorded data is useful not only during patient rehabilitation but can assist in the timely diagnosis of neurodegenerative diseases, even redefining existing diagnostic pipelines. In this thesis, we conducted gait analysis in healthy subjects (HC), patients who suffered spinal cord injuries (SCI), and patients affected by Parkinson's disease (PD) using inertial sensors, including gyroscopes, accelerometers, and magnetometers (normally referred to as inertial measurement units – IMUs).