We developed a lightweight sensor shoe system with four high-capacity, compact triaxial force sensors and an inertial sensor. This system enables measurement of local ground reaction forces at each sensor position and estimation of stride length and toe clearance during walking. 15 older and 8 young adults participated and performed straight walking while wearing the sensor shoe system. The results indicated that older adult participants showed less contribution of the local GRF at the heel part and greater contribution of the toe and fifth metatarsal part. The results also indicated older adult participants had larger variability in stride length and smaller toe clearance with greater variability compared with young adult participants. These results revealed that the sensor shoe system distinguished the gait characteristics in young and older adults, indicating the applicability of our sensor shoe system in realworld settings.