Lower limb exoskeleton robots and rehabilitation robots have been a hot area in recent years, and obviously the gait data is significant meaningful to gait recognition and its control system. To collect the human gait information when he is waling, a set of data acquisition system which can measure the foot pressure and join angles is presented in this paper. This system consisting of MCU, foot pressure sensors, joint angle sensors, signal condition module and data storage module is able to decode, gather and store gait data automatically. With this system, the foot pressures and joint angles of different people walking at different speed are collected successfully. And the results show some gait features, which can provide reference for farther gait analysis and recognition.