The invention discloses a virtual-real fusion human-machine cooperative simulation method, which includes: calculating and obtaining the three-dimensional pose sequence and corresponding force information of the human body, arm and hand according to the three-dimensional pose information of the human body and the return result of the data glove; combining The three-dimensional pose sequence of the human body, arm and hand and the corresponding force information, as well as the motion simulation results of the virtual robot model, based on the collision detection algorithm and the physical simulation algorithm, detect the positional interaction between the virtual robot and the three-dimensional pose sequence of the human body Information and force interaction information, simulation analysis of human-machine cooperation process. The present invention can carry out the verification and experiment of various control algorithms in the research of human-computer cooperation, and experiment the interaction, collision, force, action coordination between humans and robots, etc.; it is closer to the real scene, can truly reflect the movement of the human body, and avoids the establishment of In addition to the complex model, it also has the advantages of ensuring the safety of the human body, people can truly feel the collaboration process, and the simulation is more accurate.