Lower limb rehabilitation robot gradually replaces the traditional means of rehabilitation technologies with its many advantages. The research states of the lower limbs rehabilitation robot and its human-robot interactive control methods are discussed in this paper. Then the surface electromyograpnhy based fine perception methods of human lower limbs are presented, including the rapid detection method of human gait events, continuous estimation of human lower limb joint angles, and quantitative prediction of active joint torques of human lower limb, for the demands of perception of patients′motion intent and motor ability in the lower limb robotic rehabilitation system. In order to achieve patient self-guidance training and robot assisted, a lower limb robotic rehabilitation system is presented as well as the human-robot interactive control method based on the surface electromyograpnhy based fine perception. Finally, the directions and contents of future research of lower limb rehabilitation robot are prospected and outlined.