BACKGROUND AND OBJECTIVE: For patients with movement disorders, the main clinical focus is on exercise rehabilitation to help recover lost motor function, which is achieved by relevant assisted equipment. The basis for seamless control of the assisted equipment is to achieve accurate inference of the user's movement intentions in the human-machine interface. This study proposed a novel movement intention detection technology for estimating lower limb joint continuous kinematic variables following muscle synergy patterns, to develop applications for more efficient assisted rehabilitation training. METHODS: This study recruited 16 healthy males and 16 male patients with symptomatic patellar tendinopathy (VISA-P: 59.1 ± 8.7). The surface electromyography of 12 muscles and lower limb joint kinematic and kinetic data from healthy subjects and patients during step-off landings from 30 cm-high stair steps were collected. We subsequently solved the preprocessed data based on the established recursive model of second-order differential equation to obtain the muscle activation matrix, and then imported it into the non-negative matrix factorization model to obtain the muscle synergy matrix. Finally, the lower limb neuromuscular synergy pattern was then imported into the developed adaptive neuro-fuzzy inference system non-linear regression model to estimate the human movement intention during this movement pattern. RESULTS: Six muscle synergies were determined to construct the muscle synergy pattern driven ANFIS model. Three fuzzy rules were determined in most estimation cases. Combining the results of the four error indicators across the estimated variables indicates that the current model has excellent estimated performance in estimating lower limb joint movement. The estimation errors between the healthy (Angle: R=0.98±0.03; Torque: R=0.96±0.04) and patient (Angle: R=0.98±0.02; Torque: R=0.96±0.03) groups are consistent. CONCLUSION: The proposed model of this study can accurately and reliably estimate lower limb joint movements, and the effectiveness will also be radiated to the patient group. This revealed that our models also have certain advantages in the recognition of motor intentions in patients with relevant movement disorders. Future work from this study can be focused on sports rehabilitation in the clinical field by achieving more flexible and precise movement control of the lower limb assisted equipment to help the rehabilitation of patients.