1997 Honda Accord – ABS kicking in right before the car comes to a stop

Hi All:

Here is the issue with my 1997 accord. Brakes work, however, when the car is about to come to a complete stop (decelerating somewhere between 10km and 0km) the ABS kicks in (I feel the pedal pulsating). When I creep the car (i.e. just lift my foot off the break and let the car move) and then apply the brake, the ABS isn’t kicking in. So it’s always when the car has been moving and coming to a complete stop.

Here’s what I plan to do:
1. clean the rust off the rings
2. check the resistance and voltage from each sensor – does anyone know the “specs” that I need to compare to? I was planning to look for consistency between all 4, but it doesn’t mean they are up to spec.
3. replace the rear wheel bearings/hub assembly (I know one is bad, but for good measure I’ll replace both).

I know the ABS is more complex than just the wheel sensors so my additional question is: after I complete the above and I still get that pulsation, what should I look at next?