A method in gait rehabilitation for detecting a foot being lifted, said method comprising: continuously receiving a plurality of signals from respective pressure sensors, which are mounted beneath a foot of a person in order to record a pressure asserted by the person against ground when walking, each signal providing a time sequence of values representing asserted pressure on the respective pressure sensor; processing by means of a processing unit the received plurality of signals, characterized in that said processing comprises, for each signal, assigning states to the respective pressure sensor for determining when the foot is being lifted for walking, and wherein said assigning of states comprises: comparing the values representing asserted pressure to an upper threshold and identifying a value above the upper threshold, upon identifying a value being above the upper threshold, comparing the sequence of values to the upper threshold and determining a duration during which the sequence of values are continuously above the upper threshold; comparing the determined duration to a time threshold and identifying that the sequence of values are maintained above the upper threshold for a duration exceeding the time threshold; and upon identifying a duration exceeding the time threshold assigning a prepared state to the sensor; and when the sensor is in the prepared state, comparing the sequence of values to a lower threshold and identifying a value below the lower threshold providing an indication that the foot is potentially lifted; and upon identifying a value below the lower threshold assigning an unprepared state to the sensor; and wherein said processing further comprises, when assigning an unprepared state to a first sensor, determining whether a prepared state is assigned to a second sensor and comparing a priority of the first sensor and the second sensor. continuously receiving a plurality of signals from respective pressure sensors, which are mounted beneath a foot of a person in order to record a pressure asserted by the person against ground when walking, each signal providing a time sequence of values representing asserted pressure on the respective pressure sensor; processing by means of a processing unit the received plurality of signals, characterized in that said processing comprises, for each signal, assigning states to the respective pressure sensor for determining when the foot is being lifted for walking, and wherein said assigning of states comprises: comparing the values representing asserted pressure to an upper threshold and identifying a value above the upper threshold, upon identifying a value being above the upper threshold, comparing the sequence of values to the upper threshold and determining a duration during which the sequence of values are continuously above the upper threshold; comparing the determined duration to a time threshold and identifying that the sequence of values are maintained above the upper threshold for a duration exceeding the time threshold; and upon identifying a duration exceeding the time threshold assigning a prepared state to the sensor; and when the sensor is in the prepared state, comparing the sequence of values to a lower threshold and identifying a value below the lower threshold providing an indication that the foot is potentially lifted; and upon identifying a value below the lower threshold assigning an unprepared state to the sensor; and comparing the values representing asserted pressure to an upper threshold and identifying a value above the upper threshold, upon identifying a value being above the upper threshold, comparing the sequence of values to the upper threshold and determining a duration during which the sequence of values are continuously above the upper threshold; comparing the determined duration to a time threshold and identifying that the sequence of values are maintained above the upper threshold for a duration exceeding the time threshold; and upon identifying a duration exceeding the time threshold assigning a prepared state to the sensor; and when the sensor is in the prepared state, comparing the sequence of values to a lower threshold and identifying a value below the lower threshold providing an indication that the foot is potentially lifted; and upon identifying a value below the lower threshold assigning an unprepared state to the sensor; and wherein said processing further comprises, when assigning an unprepared state to a first sensor, determining whether a prepared state is assigned to a second sensor and comparing a priority of the first sensor and the second sensor.