A control method for a lower limb rehabilitation apparatus for rehabilitation of the lower limbs of a user includes the step of putting an exoskeleton on the lower limbs of the user, the step of setting a trigger condition, the step of using EMG muscle sensors to detect EMG signals from specific muscles of the user when the user is performing specific actions, 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 to provide a control signal to a control unit for controlling the exoskeleton in moving the lower limbs of the user to perform specific actions if the sensing result meets the trigger condition.