The nature of black holes is one of the most exciting issues in gravitational physics. If there is an exotic compact object as compact as a black hole but without a horizon, gravitational wave echoes may be produced after the merger. In this work, we show that for extreme-mass-ratio binaries, even during the inspiraling phase of compact binary coalescence, the existence of the hard surface of the exotic compact object will produce detectable signals on the gravitational waves. We predict that once the LIGO-Virgo-KAGRA, Einstein Telescope, or Cosmic Explorer detect such kinds of sources, our model shows that one can constrain the properties of surfaces of the compact objects in inspiraling stage better than the current level.