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This is combined with screw theory and a virtual rigid body model for the human\u2013machine interaction force is proposed. This model interprets the basic principle model of the human\u2013machine contact force. The deviation of the human\u2013machine kinematic chain is calculated using the virtual model. In order to carry out the calibration simulation for the model, a 6-sps parallel mechanism is taken as an example to illustrate the construction principle of the human\u2013machine interaction virtual rigid body model. This is calibrated by introducing finite element software. Finally, using the knee exoskeleton as an example, a numerical simulation is introduced. This illustrates the relationship between the driving force of the exoskeleton, the human\u2013machine deviation as well as the virtual stiffness. 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