The invention discloses a human body mechanical impedance measuring device and a measuring method thereof. The measuring device comprises a mechanical impedance generating mechanism and a data acquisition processing part and is mainly composed of a linear motor, a rotary table, a six-axis six-axial force sensors, a rotary handle, a grating ruler, an encoder, a signal regulator, an analog-digital converter, a controller, a data processor and a display, the mechanical impedance generating mechanism generates a disturbance to human body, and then the data acquisition processing part is utilized to calculate the mechanical impedance. The mechanical impedance when the human body is in a static state can be measured; besides, the invention also provides a measuring method, comprising the following steps of: constructing a virtual movement environment, and constructing an arrived task on a virtual object in the virtual movement environment to simulate the real movement environment so as to test the mechanical impedance when the human body is in the virtual movement environment. The method is simple and feasible, has high reference value on the mechanic impedance of the human body in motion and be used for carrying out motion learning and limb rehabilitation.