The current available exoskeleton robots used fixed connection with human, which may result in discomfort or even cause injury to human during walking due to the strong constraints. To overcome these disadvantages, this paper introduces a novel human-machine interaction model by increasing connection joints between the exoskeleton and human at the location of thigh and shank. The process that the human walk on the ground with the assistance of exoskeleton robot and crutches was simulated using ADAMS. In addition, the impact of gait patterns and knee joint configuration on the human-machine coordination was analyzed. Results of this simulation analysis may be useful for the mechanical design and the clinical application of exoskeleton.