This dataset contains sensor values from Force Myography (FMG) sensors and Inertial Measurement Units (IMUs) and corresponding Ankle Joint Power and Ground Reaction Force. The FMG strap was positioned about two inches above the ankle of the left leg. Four IMUs were positioned on foot, distal shank, distal thigh, and proximal thigh of the left leg. There are sensors values and corresponding reference values from nine participants and five different walking speeds (0.4 m/s, 0.7 m/s, 1.0 m/s, 1.3 m/s, and 1.6 m/s). This dataset portrays how values from different sensors vary with respect to Ankle Joint Power and Ground Reaction Force. The dataset can be utilized to train machine learning models to predict Ankle Joint Power and Ground Reaction Force using FMG and IMUs sensor values, which in turn can eliminate the requirement of a complex biomechanical setup to measure Ankle Joint Power and Ground Reaction Force.