清单文件添加权限：

    <uses-feature android:name="android.hardware.sensor.stepcounter"/>
    <uses-feature android:name="feature:android.hardware.sensor.stepdetector"/>
    <!--安卓10.0版本以上必须申请的健身运动权限-->
    <uses-permission android:name="android.permission.ACTIVITY_RECOGNITION" />

Activity：

package cn.areful.sensor;

import android.Manifest;
import android.app.Activity;
import android.content.Context;
import android.content.Intent;
import android.content.pm.PackageManager;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.net.Uri;
import android.os.Build;
import android.os.Bundle;
import android.provider.Settings;
import android.widget.TextView;
import android.widget.Toast;

import androidx.annotation.NonNull;
import androidx.appcompat.app.AlertDialog;
import androidx.core.app.ActivityCompat;
import androidx.core.content.ContextCompat;

import java.util.Locale;

import cn.areful.myapplication.R;

/**
 * Created by areful on 2020/09/27.
 */
public class StepDetectActivity extends Activity {
    //动态申请健康运动权限
    private static final String[] ACTIVITY_RECOGNITION_PERMISSION = {Manifest.permission.ACTIVITY_RECOGNITION};

    private TextView mStepText;
    private SensorManager mSensorManager;
    private MySensorEventListener mListener;
    private int mStepDetector = 0;  // 自应用运行以来STEP_DETECTOR检测到的步数
    private int mStepCounter = 0;   // 自系统开机以来STEP_COUNTER检测到的步数

    public static Intent buildIntent(Context context) {
        Intent intent = new Intent(context, StepDetectActivity.class);
        if (!(context instanceof Activity)) {
            intent.addFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
        }
        return intent;
    }

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_step_detect);

        mStepText = (TextView) findViewById(R.id.stepText);
        mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
        mListener = new MySensorEventListener();

        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.Q) {
            // 检查该权限是否已经获取
            int get = ContextCompat.checkSelfPermission(this, ACTIVITY_RECOGNITION_PERMISSION[0]);
            // 权限是否已经 授权 GRANTED---授权  DINIED---拒绝
            if (get != PackageManager.PERMISSION_GRANTED) {
                // 如果没有授予该权限，就去提示用户请求自动开启权限
                ActivityCompat.requestPermissions(this, ACTIVITY_RECOGNITION_PERMISSION, 321);
            }
        }
    }

    @Override
    protected void onResume() {
        super.onResume();
        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.KITKAT) {
            mSensorManager.registerListener(mListener, mSensorManager.getDefaultSensor(Sensor.TYPE_STEP_DETECTOR),
                    SensorManager.SENSOR_DELAY_NORMAL);
            mSensorManager.registerListener(mListener, mSensorManager.getDefaultSensor(Sensor.TYPE_STEP_COUNTER),
                    SensorManager.SENSOR_DELAY_NORMAL);
        }
    }

    @Override
    protected void onPause() {
        super.onPause();
        mSensorManager.unregisterListener(mListener);
    }

    @Override
    public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
        if (requestCode == 321) {
            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.Q) {
                if (grantResults[0] != PackageManager.PERMISSION_GRANTED) {
                    //提示用户手动开启权限
                    new AlertDialog.Builder(this)
                            .setTitle("健康运动权限")
                            .setMessage("健康运动权限不可用")
                            .setPositiveButton("立即开启", (dialog12, which) -> {
                                // 跳转到应用设置界面
                                Intent intent = new Intent();
                                intent.setAction(Settings.ACTION_APPLICATION_DETAILS_SETTINGS);
                                Uri uri = Uri.fromParts("package", getPackageName(), null);
                                intent.setData(uri);
                                startActivityForResult(intent, 123);
                            })
                            .setNegativeButton("取消", (dialog1, which) -> {
                                Toast.makeText(getApplicationContext(), "没有获得权限，应用无法运行！", Toast.LENGTH_SHORT).show();
                                finish();
                            }).setCancelable(false).show();
                }
            }
        }
    }

    private class MySensorEventListener implements SensorEventListener {
        @Override
        public void onSensorChanged(SensorEvent event) {
            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.KITKAT) {
                System.out.println("@@@:" + event.sensor.getType() + "--" + Sensor.TYPE_STEP_DETECTOR + "--" + Sensor.TYPE_STEP_COUNTER);

                if (event.sensor.getType() == Sensor.TYPE_STEP_DETECTOR) {
                    if (event.values[0] == 1.0f) {
                        mStepDetector++;
                    }
                } else if (event.sensor.getType() == Sensor.TYPE_STEP_COUNTER) {
                    mStepCounter = (int) event.values[0];
                }

                String desc = String.format(Locale.CHINESE, "设备检测到您当前走了%d步，自开机以来总数为%d步", mStepDetector, mStepCounter);
                mStepText.setText(desc);
            }
        }

        @Override
        public void onAccuracyChanged(Sensor sensor, int accuracy) {
        }
    }
}

参考：

https://blog.csdn.net/weixin_43763952/article/details/106590253