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Gyroscopes have been proposed as sensors for ambulatory gait analysis and functional electrical stimulation systems. Accurate determination of the Initial Contact of the foot with the floor (IC) and the final contact or Foot Off (FO) on different terrains is important. This paper describes the evaluation of a gyroscope placed on the shank for determination of IC and FO in subjects walking outdoors on level ground, and up and down an incline. Performance was compared with a reference pressure measurement system. The mean difference between the gyroscope and the reference was less than -25 ms for IC and less than 75 ms for FO for all terrains. Detection success was over 98%. These results provide preliminary evidence supporting the use of the gyroscope for gait event detection on inclines as well as level walking. [ABSTRACT FROM AUTHOR]