In order to design a suitable control scheme for human extremity exoskeleton, the interaction force control scheme which regards human body as the work environment of human extremity exoskeleton was proposed. And then, the electromechanical system of human extremity exoskeleton was simplified, and the modeling and simulation study of the electromechanical system by using Matlab/Simulink module was carried out. The angular deviations between human extremity exoskeleton joints and human body joints were obtained by the simulation. Besides, the torques provided by human body and motors for human extremity exoskeleton joints to bear heavy payload were calculated. The analysis of the simulation calculation results proves that the interaction force control scheme can achieve good man-machine coordinated walking as well as help human body bear heavy payload. Besides, the upper extremity exoskeleton experiment was conducted, and the same conclusion with the simulation study was obtained
