In today's society, due to various factors, the number of patients with limb dyskinesia caused by the functional decline, accidents, injuries and other causes is increased significantly. Clinically, lower limb rehabilitation training machines are widely used to assist patients in rehabilitation training. In recent years, the rapid development of brain-computer interface (BCI) technology has made great importance in this field of rehabilitation. The brain-computer interface recognizes the brain wave signals generated by motor imaging or induced motion of patients with limb movement disorders, thereby controlling the lower limb rehabilitation equipment to achieve auxiliary movement.