The invention discloses a virtual-real fusion man-
machine collaborative 
simulation method. The virtual-real fusion man-
machine collaborative 
simulation method comprises the following steps: calculating a three-dimensional 
pose sequence of a 
human body, arms and hands and corresponding force application information according to three-dimensional 
pose information of the 
human body and a return result of a data glove; and combining the three-dimensional 
pose sequence of the 
human body, the arms and the hands, the corresponding force application information and a 
virtual robot model 
motion simulation result, obtaining position interaction information and force interaction information between a 
virtual robot and the human body three-dimensional posture sequence through detection on the basis ofa 
collision detection algorithm and a physical 
simulation algorithm, and carrying out simulation analysis on a man-
machine cooperation process. The virtual-real fusion man-machine collaborative simulation method has the advantages that 
verification and experiments for various control algorithms in man-machine cooperation research can be carried out, and interaction, collision, force, action coordination and other content between people and the 
robot are experimented; the method is closer to a real scene, can truly reflect the 
human motion, avoids building of a complex model, guarantees the safety of the human body, enables a person to truly feel a cooperation process, and is more accurate in simulation.