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In order to extend the sphere of activities of the spine-injured patients with the assistance of exoskeleton robots, it’s more than just getting up, standing and walking. This study proposes an off-gauge parameterization algorithm for stair-ascending gait planning. The algorithm is based on an inertial measurement unit to detect the motion intention of the wearer. To ensure the safety of the stair-climbing process, the zero-moment point (ZMP) of the entire system is calculated based on the plantar pressure sensor. The algorithm designs the optimal trajectory of the joint spatial position based on parameters such as the length of the thigh and the lower leg, the height and the width of the stairs, then solve the trajectory of the joint angle through inverse kinematics. The algorithm can generate different gait trajectories for different wearers to adapt to different stair dimensions. In the end, three experimenters wear the exoskeleton and walk on a stair with a height of 18cm and a width of 26cm. The exoskeleton helps the wearer complete the task of climbing stairs according to the planned gait trajectory. The experiment verifies the effectiveness and practicability of the algorithm