A lower limb rehabilitation apparatus (10) apparatus is provided which comprises: a base frame (20)； a support frame (30) mounted on said base frame (20)； an actuator (40) mounted on said base frame (20) adjacent to said support frame (30)； a mechanical exoskeleton (50) pivotally connected to said support frame (30) and said actuator (40)； a motion control module (60) comprising at least one EMG (electromyography) muscle sensor and a controller (80), said controller (80) being electrically coupled with said actuator (40) and said muscle sensor for receiving and processing an EMG signal of said muscle sensor and controlling said actuator (40) to drive said mechanical exoskeleton (50) according to the sensing result of said muscle sensor. A lower limb rehabilitation method is disclosed which includes the step of putting a exoskeleton on the lower limbs of the user, the step of setting a trigger condition, the step of using EMG muscle sensors (70) to detect EMG signals from specific muscles of the user, the step of judging whether the sensing result meets the trigger condition, and the step of re-setting the triggering condition without moving the exoskeleton if the sensing result does not meet the trigger condition, or, the step of triggering a motion generator (86) to provide a control signal to a control unit (88) for controlling the exoskeleton in moving the lower limbs of the user to perform specific actions if the sensing result meets the trigger condition.
