In this study, we measured the GRF patterns during walking on several ground conditions using shoes equipped with MEMS 6-axis force sensors in their insoles. The MEMS 6-axis force sensors were placed at the thenar, hypothenar, and heel, and they measured 3-axis force and momentum with a measurement rate of 50 Hz. Measurements were conducted on level walking, sand walking, and slope ascent and descent. The data were analyzed for the three axial forces on each measurement. In the sand walking measurement, the GRF for each axis was smaller and had high variability compared to level walking. The slope ascent and descent measurements showed that the hypothenar produced a greater propulsive force when ascending, and the heel produced a braking force when descending.