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In therapeutic rehabilitation devices, different types of feedback are provided to improve the outcome of the rehabilitation process. Lower limb robotic exoskeleton devices for overground gait rehabilitation have difficulties providing subjects certain types of feedback, such as visual feedback, because of the restriction of the visual display installation space and the mobility of the whole system. As a remedy, we propose the concept of providing auditory stimulation with force feedback via exoskeleton legs. As a preliminary study, we implemented an Android OS-based rhythmic auditory stimulation module in order to effectively connect exoskeleton robotic devices. Two 3D accelerometers were attached around the subjects' ankles. By using this module, we performed a preliminary study on rhythmic auditory stimulation with able-bodied participants and one stroke participant. We observed changes in gait speed, cadence …