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.