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This paper analyzes the human motion analysis system for lower limbs rehabilitative robot. In this paper, we focus on the design of motion analysis system for gait analysis during human's walking. The system was designed as a different sensors combination consisting of two gyroscope-chips that measure two-direction rotational velocities of the foot and a two-axis accelerometer-chip that can output two-direction accelerations of the foot during walking. Furthermore, a fuzzy inference system (FIS) was developed for the analysis of sensors' outputs, which can estimate a gait phase analysis result. To get the decided gait phases change points of human walking, a digital filter was used to remove noises from the outputs of the fuzzy inference system. Finally, experimental study was conducted. A wearable mechanism with the sensors system was constructed, and some experiments about detection gait phases of the normal human walking were finished.