Investigating Specific Gait Patterns in Individuals Living With Multiple Sclerosis

Inclusion Criteria: For people living with multiple sclerosis (pwMS): 1. Age at inclusion between =18 and =65 years old 2. Signed informed consent and ability to comply with study and follow-up. 3. Confirmed MS diagnosis according to McDonald criteria (2017) 4. Expanded Disability Status Scale EDSS = 6 5. Stable treatment for 2 months before inclusion (for both disease modifying and symptomatic therapies) 6. Ability and willingness to participate in and comply with all study procedures defined in the protocol 7. Subject will be eligible for enrollment in this study only if either affiliated to, or a beneficiary of a social security category For Healthy volunteers : 1. Age at inclusion between =18 and =65 years old 2. Signed informed consent and ability to comply with study and follow-up. 3. Ability and willingness to participate in and comply with all study procedures defined in the protocol 4. Subject will be eligible for enrollment in this study only if either affiliated to, or a beneficiary of a social security category Exclusion Criteria: For pwMS: 1. Participants with a relapse within the past 3 months before the inclusion 2. Participants with significant cognitive disorders, limiting the understanding of the exercises to be performed or presence of apparent communication difficulties hindering the correct collection of data, as assessed by the investigator 3. Past or present pathology other than MS or surgery or trauma impacting gait, ambulatory function or upper limb function, as assessed by the investigator 4. Vulnerable adults: individuals subject to a legal protection measure (guardianship, limited guardianship, or judicial protection) or unable to express their consent. For healthy volunteers (HV): 1. Participants with significant cognitive disorders, limiting the understanding of the exercises to be performed or presence of apparent communication difficulties hindering the correct collection of data, as assessed by the investigator 2. Past or present pathology or surgery or trauma impacting gait, ambulatory function or upper limb function, as assessed by the investigator 3. Vulnerable adults: individuals subject to a legal protection measure (guardianship, limited guardianship, or judicial protection) or unable to express their consent.