To have $\tau_k < \tau^*$, the first step of the walk must be in the positive direction. So, we may as well start the walk at position $1$: let $X_1$, $X_2$, $X_3$, $\ldots$ be i.i.d. with $\mathbb{P}(X_i=1)=\mathbb{P}(X_i=-1)={1\over 2}$, let $T_n:=1+\sum_{1\le i\le n} X_i\ \ (n\in\mathbb{Z}_{\ge 0})$, and let $\mu_k:=\min \{n\in\mathbb{Z}_{\ge 0}\mid T_n=k\}$. We then want to compute
$$
\sum_{k\ge 1} \mathbb{E}[c^{\mu_k}\mid \mu_k<\mu_0],
$$
where the $-1$ in the exponent has disappeared because we started the walk
at what was formerly time $1$.
Fix some $A>0$ and let $M_n:=c^n A^{T_n}$; if $A+A^{-1}=2/c$, $M_n$ will be a martingale. Then, by the optional stopping theorem,
\begin{eqnarray*}
A=M_0&=& \mathbb{E}[M_{\min(\mu_k, \mu_0)}]\\
&=& \mathbb{P}(\mu_k<\mu_0) \mathbb{E}[c^{\mu_k}\mid \mu_k < \mu_0] A^k+
\mathbb{P}(\mu_k>\mu_0) \mathbb{E}[c^{\mu_0}\mid \mu_k > \mu_0]. \ \ (*)
\end{eqnarray*}
The equation $A+A^{-1}=2/c$ has two positive roots. Let $A_0$ be the one greater than $1$; the other will then be $A_0^{-1}$. Setting $A:=A_0$
and $A:=A_0^{-1}$ in $(*)$ then gives two linear equations. Subtracting one
from the other and solving gives
$$
\mathbb{P}(\mu_k<\mu_0) \mathbb{E}[c^{\mu_k}\mid \mu_k < \mu_0]
= {A_0-A_0^{-1}\over A_0^k-A_0^{-k}}=
{1\over A_0^{k-1}+A_0^{k-3}+\cdots+A_0^{-(k-3)}+A_0^{-(k-1)}}.\ \ (**)
$$
Letting $c\to 1$, $A_0\to 1$ as well. In this case $(**)$ becomes
$$
\mathbb{P}(\mu_k<\mu_0) = \frac{1}{k},
$$
which can also be found by using the optional stopping theorem with
the martingale $T_n$. Dividing this into $(**)$ gives
$$
\mathbb{E}[c^{\mu_k}\mid \mu_k < \mu_0]
= k {A_0-A_0^{-1}\over A_0^k-A_0^{-k}},
$$
so the answer is
$$
\sum_{k\ge 1} k {A_0-A_0^{-1}\over A_0^k-A_0^{-k}}.
$$