Drop foot is a typical clinical condition associated with stroke. According to the World Health Organization, fifteen million people suffer a stroke per year, and one of three people's survival gets drop foot. Functional Electrical Stimulation systems are applied over the peroneal motor nerve to achieve the drop foot problem's dorsiflexion. An accurate and reliable way to identify in real-time the gait phases to trigger and finish the stimulation is needed. This paper proposes a new step sensor with a custom capacitive pressure sensors array located under the heel to detect a gait pattern in real-time to synchronize the stimulation with the user gait. The step sensor uses a capacitive pressure sensors array and hardware, which acquire the signals, execute an algorithm to detect the start and finish of the swing phase in real-time, and send the synchronization signal wirelessly. The step sensor was tested in two ways: 10 meters walk test and walking in a treadmill for 2 minutes. These two tests were performed with two different walk velocities and with thirteen healthy volunteers. Thus, all the 1342 steps were correctly detected. Compared to an inertial sensor located in the lower-back, the proposed step sensor achieves a mean error of 27.60±0.03 [ms] for the detection of the start of the swing phase and a mean error of 20.86±0.02 [ms] for the detection of the end of the swing phase. The results show an improvement in time error (respect to others pressure step sensors), sensibility and specificity (both 100%), and comfortability.