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Nowadays the exoskeleton, known as a useful device in robotic rehabilitation and elderly assistance, has been attracted the attention of many researches. One of the most important feathers of the exoskeleton robots are the compliant interaction with patient. The Series Elastic Actuators (SEA) not only interact with human compliantly but also provide several advantaged such as torque measurement and torque control. The pervious researches have used an inner position loop and an outer force loop. In this paper, the motor and power transmission model is also integrated in the controller design. In this paper, the parameters of the SEA, motor and links are identified firstly. Then, two model-based torque control is designed and introduced based on the velocity and current commands. In contrast to previous researched, the controller is proposed for the locked and free condition and the Lyapunov stability analysis is presented. Finally, the experimental validation test on the Sharif lower limb exoskeleton is presented for these controller. The experimental results of the controller show that the accuracy of torque control based on the current and velocity is 1.2 and 0.2 N.m, respectively.