Walking is a key movement of interest in biomechanics, yet gold-standard data collection methods are time- and cost-expensive. This paper presents a real-time, multimodal, high sample rate lower-limb motion capture framework, based on wireless wearable sensors and machine learning algorithms. Random Forests are used to estimate joint angles from IMU data, and ground reaction force (GRF) is predicted from an instrumented insole, while joint moments are predicted from angles and GRF using deep learning based on the ResNet-16 architecture. All three models achieve good accuracy compared to the literature, and the predictions are logged at 1 kHz with a minimal delay of 23 ms for 20s worth of input data.