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Virtual-force control is based on estimating human-machine forces through mass properties and kinematic parameters. A drawback of this method is that it relies on the accuracy of the inertial estimation, assumes a system with frictionless joints, and that the dynamic system equations require a large amount of computations. The introduction of laser flow spacing sensor between the human and the exoskeleton can solve some of these issues. This paper proposes a position servo control algorithm, by introducing the laser directly in the man-machine contact streaming man-machine information (exoskeleton) spacing distance sensor measurement, combined with the exoskeleton posture information calculated by the human body each joint Angle in the composition of the human body posture, as the target of exoskeletons follow-up, terminal position and then calculate the human body, calculated finally able to achieve the same position at the end of the exoskeleton. This method has the characteristics of high performance, stable stability and high control precision.