To date, most studies use surface electromyographic (sEMG) signals as control source on active rehabilitation robots, and unilateral data are collected based on the gait symmetry hypothesis which has caused much controversy. The purpose of this study is to quantitatively evaluate the sEMG activity asymmetry of bilateral muscles in lower extremities during functional tasks. Nine participants were instructed to perform static and dynamic steady state test. sEMG signals from tibialis anterior, soleus, medial gastrocnemius and lateral gastrocnemius muscles of bilateral lower extremities were recorded in the experiments. Muscle activities are quantified in terms of sEMG amplitude. We investigated whether characteristics of left limb and the one of the right limb have the same statistical characteristics during functional tasks using wilcoxon rank sum test, and studied dynamic signal irregularity degree for sEMG activities via sample entropy. The total of muscle activities were significant differences between left limb and right limb during static steady state (p=0.000). For dynamic steady state, there were significant differences for most muscle activities between left limb and right limb at different speeds (p=0.000). Nevertheless, there was no difference bewteen lateral gastrocnemius for bilateral limb at 2.0 kilometers per hour (p=0.060). For medial gastrocnemius, differences were not found between left limb and right limb at 1.0 and 3.0 kilometers per hours (p=0.390 and p=0.085, respectively). Similarly, there was no difference for soleus at 3.0 kilometers per hour (p=0.115).The importance of differences in muscle activities between left limb and right limb were found. These results can be potentially used for evaluating lower limb extremity function of special populations (elderly people or stroke patient) in an objective and simple method.